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Move yaw dead zone handling from mavlink to control subsystem

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So yaw dead zone works the same for rc and mavlink.
This commit is contained in:
Oleg Kalachev
2025-11-22 05:11:46 +03:00
parent 5352386486
commit d757ffa853
2 changed files with 2 additions and 3 deletions
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2
flix/control.ino
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@@ -75,6 +75,8 @@ void interpretControls() {
if (controlThrottle < 0.05 && controlYaw > 0.95) armed = true; // arm gesture if (controlThrottle < 0.05 && controlYaw > 0.95) armed = true; // arm gesture
if (controlThrottle < 0.05 && controlYaw < -0.95) armed = false; // disarm gesture if (controlThrottle < 0.05 && controlYaw < -0.95) armed = false; // disarm gesture
if (abs(controlYaw) < 0.1) controlYaw = 0; // yaw dead zone
thrustTarget = controlThrottle; thrustTarget = controlThrottle;
if (mode == STAB) { if (mode == STAB) {

3
flix/mavlink.ino
View File

@@ -11,7 +11,6 @@
#define SYSTEM_ID 1 #define SYSTEM_ID 1
#define MAVLINK_RATE_SLOW 1 #define MAVLINK_RATE_SLOW 1
#define MAVLINK_RATE_FAST 10 #define MAVLINK_RATE_FAST 10
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
bool mavlinkConnected = false; bool mavlinkConnected = false;
String mavlinkPrintBuffer; String mavlinkPrintBuffer;
@@ -105,8 +104,6 @@ void handleMavlink(const void *_msg) {
controlYaw = m.r / 1000.0f; controlYaw = m.r / 1000.0f;
controlMode = NAN; controlMode = NAN;
controlTime = t; controlTime = t;
if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0;
} }
if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) { if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {