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Merge branch 'master' into stm

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This commit is contained in:
Oleg Kalachev
2026-08-11 23:17:04 +03:00
parent c3b818c2ae
commit b8c687f3ed
117 changed files with 2264 additions and 810 deletions
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gazebo/SBUS.h
+5 -6
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@@ -13,14 +13,13 @@ class SBUS {
public:
SBUS(HardwareSerial& bus, const bool inv = true) {};
SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
void begin() {};
void begin(int rxpin = -1, int txpin = -1, bool inv = true, bool fast = false) {};
bool read() { return joystickInit(); };
SBUSData data() {
SBUSData data;
joystickGet(data.ch);
void getChannels(uint16_t (&channels)[16]) const {
int16_t ch[16];
joystickGet(ch);
for (int i = 0; i < 16; i++) {
data.ch[i] = map(data.ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
channels[i] = map(ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
}
return data;
};
};