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Refactor control subsystem

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Add interpretControls function to convert pilot commands and mode into control targets and make control functions independent from the mode.
Add ratesExtra target for rates feed-forward; remove yawMode.
Rename controlRate to controlRates to reflect rates variable name.
Remove USER mode.
This commit is contained in:
Oleg Kalachev
2025-08-26 01:00:56 +03:00
parent a1539157b8
commit 8418723ccc
8 changed files with 88 additions and 62 deletions
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flix/rc.ino
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@@ -42,7 +42,7 @@ void normalizeRC() {
controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN;
controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN;
controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN;
controlArmed = armedChannel >= 0 ? controls[(int)armedChannel] : 1; // assume armed by default
controlArmed = armedChannel >= 0 ? controls[(int)armedChannel] : NAN;
controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
}