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Implement parameters subsystem

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* Unified parameters storage.
* Store parameters in flash on the hardware.
* Store parameters in text file in simulation.
* Work with parameters in command line.
* Support parameters in MAVLink for working with parameters in QGC.
This commit is contained in:
Oleg Kalachev
2024-12-23 13:00:02 +03:00
parent 28f6cfff60
commit ae349fb73c
15 changed files with 320 additions and 91 deletions
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6
flix/rc.ino
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@@ -5,9 +5,8 @@
#include <SBUS.h>
// NOTE: use 'cr' command to calibrate the RC and put the values here
int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
float channelNeutral[RC_CHANNELS] = {NAN}; // first element NAN means not calibrated
float channelMax[RC_CHANNELS];
SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
@@ -26,6 +25,7 @@ void readRC() {
}
void normalizeRC() {
if (isnan(channelNeutral[0])) return; // skip if not calibrated
for (uint8_t i = 0; i < RC_CHANNELS; i++) {
controls[i] = mapf(channels[i], channelNeutral[i], channelMax[i], 0, 1);
}