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Refactor arming logic

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Arm and disarm with gestures only: left stick right/down for arming, left/down for disarming.
Remove arming switch as it complicates arming gestures logic.
Remove MAV_CTRL_SCALE parameter as it complicates arming gestures logic, advise to decrease TILT_MAX when controlling with a smartphone.
Put some minimal thrust to motors to indicate armed state.
Rename build article to usage article, add flight instructions.
This commit is contained in:
Oleg Kalachev
2025-08-27 03:19:26 +03:00
parent beb655fdcb
commit c1788e2c75
17 changed files with 451 additions and 245 deletions
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7
flix/rc.ino
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@@ -14,7 +14,7 @@ float channelZero[16]; // calibration zero values
float channelMax[16]; // calibration max values
// Channels mapping (using float to store in parameters):
float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, armedChannel = NAN, modeChannel = NAN;
float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
void setupRC() {
print("Setup RC\n");
@@ -42,7 +42,6 @@ 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] : NAN;
controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
}
@@ -58,8 +57,7 @@ void calibrateRC() {
calibrateRCChannel(&yawChannel, center, max, "5/9 Move sticks [3 sec]\n... ...\n..o .o.\n... ...\n");
calibrateRCChannel(&pitchChannel, zero, max, "6/9 Move sticks [3 sec]\n... .o.\n... ...\n.o. ...\n");
calibrateRCChannel(&rollChannel, zero, max, "7/9 Move sticks [3 sec]\n... ...\n... ..o\n.o. ...\n");
calibrateRCChannel(&armedChannel, zero, max, "8/9 Switch to armed [3 sec]\n");
calibrateRCChannel(&modeChannel, zero, max, "9/9 Disarm and switch mode to max [3 sec]\n");
calibrateRCChannel(&modeChannel, zero, max, "9/9 Put mode switch to max [3 sec]\n");
printRCCalibration();
}
@@ -94,6 +92,5 @@ void printRCCalibration() {
print("Pitch %-7g%-7g%-7g\n", pitchChannel, pitchChannel >= 0 ? channelZero[(int)pitchChannel] : NAN, pitchChannel >= 0 ? channelMax[(int)pitchChannel] : NAN);
print("Yaw %-7g%-7g%-7g\n", yawChannel, yawChannel >= 0 ? channelZero[(int)yawChannel] : NAN, yawChannel >= 0 ? channelMax[(int)yawChannel] : NAN);
print("Throttle %-7g%-7g%-7g\n", throttleChannel, throttleChannel >= 0 ? channelZero[(int)throttleChannel] : NAN, throttleChannel >= 0 ? channelMax[(int)throttleChannel] : NAN);
print("Armed %-7g%-7g%-7g\n", armedChannel, armedChannel >= 0 ? channelZero[(int)armedChannel] : NAN, armedChannel >= 0 ? channelMax[(int)armedChannel] : NAN);
print("Mode %-7g%-7g%-7g\n", modeChannel, modeChannel >= 0 ? channelZero[(int)modeChannel] : NAN, modeChannel >= 0 ? channelMax[(int)modeChannel] : NAN);
}