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Move all global variable declarations to the appropriate subsystems

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As it makes the subsystems code easier to understand.
Declare the most used variables in main sketch file as forward declarations.
Make all control input zero by default (except controlMode).
Minor changes.
This commit is contained in:
Oleg Kalachev
2026-01-03 13:28:18 +03:00
parent a5e3dfcf69
commit c8e5e08b03
10 changed files with 42 additions and 36 deletions
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flix/rc.ino
+10 -7
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@@ -6,13 +6,16 @@
#include <SBUS.h>
#include "util.h"
SBUS rc(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
SBUS rc(Serial2);
uint16_t channels[16]; // raw rc channels
float controlTime; // time of the last controls update
float channelZero[16]; // calibration zero values
float channelMax[16]; // calibration max values
float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
float controlMode = NAN; //
float controlTime; // time of the last controls update (0 when no RC)
// Channels mapping (using float to store in parameters):
float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
@@ -38,11 +41,11 @@ void normalizeRC() {
controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1);
}
// Update control values
controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : NAN;
controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN;
controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN;
controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN;
controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : 0;
controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : 0;
controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : 0;
controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : 0;
controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN; // mode switch should not have affect if not set
}
void calibrateRC() {