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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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12
gazebo/joystick.h
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@@ -7,10 +7,6 @@
#include <gazebo/gazebo.hh>
#include <iostream>
// simulation calibration overrides, NOTE: use `cr` command and replace with the actual values
const int channelNeutralOverride[] = {-258, -258, -27349, 0, -27349, 0};
const int channelMaxOverride[] = {27090, 27090, 27090, 27090, -5676, 1};
#define RC_CHANNEL_ROLL 0
#define RC_CHANNEL_PITCH 1
#define RC_CHANNEL_THROTTLE 2
@@ -21,8 +17,6 @@ const int channelMaxOverride[] = {27090, 27090, 27090, 27090, -5676, 1};
SDL_Joystick *joystick;
bool joystickInitialized = false, warnShown = false;
void normalizeRC();
void joystickInit() {
SDL_Init(SDL_INIT_JOYSTICK);
joystick = SDL_JoystickOpen(0);
@@ -33,12 +27,6 @@ void joystickInit() {
gzwarn << "Joystick not found, begin waiting for joystick..." << std::endl;
warnShown = true;
}
// apply calibration overrides
extern int channelNeutral[RC_CHANNELS];
extern int channelMax[RC_CHANNELS];
memcpy(channelNeutral, channelNeutralOverride, sizeof(channelNeutralOverride));
memcpy(channelMax, channelMaxOverride, sizeof(channelMaxOverride));
}
bool joystickGet(int16_t ch[16]) {