From d60968ea25b7916a7aa6dc5c6fba6b06006a9635 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Feb 2025 22:19:52 +0300
Subject: [PATCH] Remove RC_CHANNELS macro

---
 flix/flix.ino     |  5 ++---
 flix/rc.ino       | 10 +++++-----
 gazebo/flix.h     |  3 +--
 gazebo/joystick.h |  4 ++--
 4 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/flix/flix.ino b/flix/flix.ino
index 2b2332c..6933183 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -10,7 +10,6 @@
 #define SERIAL_BAUDRATE 115200
 #define WIFI_ENABLED 1
 
-#define RC_CHANNELS 16
 #define RC_CHANNEL_ROLL 0
 #define RC_CHANNEL_PITCH 1
 #define RC_CHANNEL_THROTTLE 2
@@ -20,8 +19,8 @@
 
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
-int16_t channels[RC_CHANNELS]; // raw rc channels
-float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
+int16_t channels[16]; // raw rc channels
+float controls[16]; // normalized controls in range [-1..1] ([0..1] for throttle)
 Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s
 Vector rates; // filtered angular rates, rad/s
diff --git a/flix/rc.ino b/flix/rc.ino
index 8cf8e5c..2e47bd3 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -28,7 +28,7 @@ void readRC() {
 }
 
 void normalizeRC() {
-	for (uint8_t i = 0; i < RC_CHANNELS; i++) {
+	for (uint8_t i = 0; i < 16; i++) {
 		controls[i] = mapf(channels[i], channelNeutral[i], channelMax[i], 0, 1);
 	}
 }
@@ -38,20 +38,20 @@ void calibrateRC() {
 	Serial.println("··o     ··o\n···     ···\n···     ···");
 	delay(4000);
 	for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated
-	for (int i = 0; i < RC_CHANNELS; i++) {
+	for (int i = 0; i < 16; i++) {
 		channelMax[i] = channels[i];
 	}
 	Serial.println("Calibrate RC: move all sticks to neutral positions in 4 seconds");
 	Serial.println("···     ···\n···     ·o·\n·o·     ···");
 	delay(4000);
 	for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated
-	for (int i = 0; i < RC_CHANNELS; i++) {
+	for (int i = 0; i < 16; i++) {
 		channelNeutral[i] = channels[i];
 	}
 	printRCCal();
 }
 
 void printRCCal() {
-	printArray(channelNeutral, RC_CHANNELS);
-	printArray(channelMax, RC_CHANNELS);
+	printArray(channelNeutral, 16);
+	printArray(channelMax, 16);
 }
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 3f2f994..b96c6e4 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -10,14 +10,13 @@
 #include "Arduino.h"
 #include "wifi.h"
 
-#define RC_CHANNELS 16
 #define WIFI_ENABLED 1
 
 float t = NAN;
 float dt;
 float motors[4];
 int16_t channels[16]; // raw rc channels
-float controls[RC_CHANNELS];
+float controls[16];
 Vector acc;
 Vector gyro;
 Vector rates;
diff --git a/gazebo/joystick.h b/gazebo/joystick.h
index 3297e2b..88b6dcb 100644
--- a/gazebo/joystick.h
+++ b/gazebo/joystick.h
@@ -38,8 +38,8 @@ bool joystickInit() {
 	}
 
 	// apply calibration overrides
-	extern int channelNeutral[RC_CHANNELS];
-	extern int channelMax[RC_CHANNELS];
+	extern int channelNeutral[16];
+	extern int channelMax[16];
 	memcpy(channelNeutral, channelNeutralOverride, sizeof(channelNeutralOverride));
 	memcpy(channelMax, channelMaxOverride, sizeof(channelMaxOverride));