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Make channels definition to rc.ino

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It's also planned to parametrize them later
This commit is contained in:
Oleg Kalachev
2025-01-10 09:37:48 +03:00
parent 568f9dd5b1
commit 821e6b105e
10 changed files with 54 additions and 55 deletions
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16
flix/mavlink.ino
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@@ -13,6 +13,8 @@
#define MAVLINK_CONTROL_SCALE 0.7f
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
void processMavlink() {
sendMavlink();
receiveMavlink();
@@ -88,15 +90,15 @@ void handleMavlink(const void *_msg) {
if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
mavlink_manual_control_t manualControl;
mavlink_msg_manual_control_decode(msg, &manualControl);
controls[RC_CHANNEL_THROTTLE] = manualControl.z / 1000.0f;
controls[RC_CHANNEL_PITCH] = manualControl.x / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_ROLL] = manualControl.y / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_YAW] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[RC_CHANNEL_MODE] = 1; // STAB mode
controls[RC_CHANNEL_ARMED] = 1; // armed
controls[throttleChannel] = manualControl.z / 1000.0f;
controls[pitchChannel] = manualControl.x / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[rollChannel] = manualControl.y / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[yawChannel] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
controls[modeChannel] = 1; // STAB mode
controls[armedChannel] = 1; // armed
controlsTime = t;
if (abs(controls[RC_CHANNEL_YAW]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[RC_CHANNEL_YAW] = 0;
if (abs(controls[yawChannel]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[yawChannel] = 0;
}
if (msg->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {