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Move controlsTime variable to rc.ino

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This commit is contained in:
Oleg Kalachev 2025-01-11 00:28:31 +03:00
parent 7bf5ee330b
commit 9e4a2c5ffc
5 changed files with 3 additions and 2 deletions
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1
flix/failsafe.ino
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@ -6,6 +6,7 @@
#define RC_LOSS_TIMEOUT 0.2 #define RC_LOSS_TIMEOUT 0.2
#define DESCEND_TIME 3.0 // time to descend from full throttle to zero #define DESCEND_TIME 3.0 // time to descend from full throttle to zero
extern float controlsTime;
extern int rollChannel, pitchChannel, throttleChannel, yawChannel; extern int rollChannel, pitchChannel, throttleChannel, yawChannel;
void failsafe() { void failsafe() {

1
flix/flix.ino
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@ -14,7 +14,6 @@ float t = NAN; // current step time, s
float dt; // time delta from previous step, s float dt; // time delta from previous step, s
int16_t channels[16]; // raw rc channels int16_t channels[16]; // raw rc channels
float controls[16]; // normalized controls in range [-1..1] ([0..1] for throttle) float controls[16]; // normalized controls in range [-1..1] ([0..1] for throttle)
float controlsTime; // time of the last controls update
Vector gyro; // gyroscope data Vector gyro; // gyroscope data
Vector acc; // accelerometer data, m/s/s Vector acc; // accelerometer data, m/s/s
Vector rates; // filtered angular rates, rad/s Vector rates; // filtered angular rates, rad/s

1
flix/mavlink.ino
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@ -13,6 +13,7 @@
#define MAVLINK_CONTROL_SCALE 0.7f #define MAVLINK_CONTROL_SCALE 0.7f
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
extern float controlsTime;
extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
void processMavlink() { void processMavlink() {

1
flix/rc.ino
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@ -14,6 +14,7 @@ int yawChannel = 3;
int armedChannel = 4; int armedChannel = 4;
int modeChannel = 5; int modeChannel = 5;
float controlsTime; // time of the last controls update
float channelNeutral[16] = {NAN}; // first element NAN means not calibrated float channelNeutral[16] = {NAN}; // first element NAN means not calibrated
float channelMax[16]; float channelMax[16];

1
gazebo/flix.h
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@ -18,7 +18,6 @@ float dt;
float motors[4]; float motors[4];
int16_t channels[16]; // raw rc channels int16_t channels[16]; // raw rc channels
float controls[16]; float controls[16];
float controlsTime;
Vector acc; Vector acc;
Vector gyro; Vector gyro;
Vector rates; Vector rates;