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Make RC_CHANNELS=16 corresponding the number of SBUS channels

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This commit is contained in:
Oleg Kalachev 2024-10-23 06:13:18 +03:00
parent 23f3295439
commit f46460e53d
3 changed files with 5 additions and 5 deletions
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4
flix/flix.ino
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@ -10,7 +10,7 @@
#define WIFI_ENABLED 1
#define RC_CHANNELS 6
#define RC_CHANNELS 16
#define RC_CHANNEL_ROLL 0
#define RC_CHANNEL_PITCH 1
#define RC_CHANNEL_THROTTLE 2
@ -26,7 +26,7 @@
float t = NAN; // current step time, s
float dt; // time delta from previous step, s
float loopFreq; // loop frequency, Hz
int16_t channels[16]; // raw rc channels
int16_t channels[RC_CHANNELS]; // raw rc channels
float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
Vector gyro; // gyroscope data
Vector acc; // accelerometer data, m/s/s

4
flix/rc.ino
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@ -6,8 +6,8 @@
#include <SBUS.h>
// NOTE: use 'cr' command to calibrate the RC and put the values here
int channelNeutral[] = {995, 883, 200, 972, 512, 512};
int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
SBUS RC(Serial2, 16, 17); // NOTE: remove pin numbers (16, 17) if you use the new default pins for Serial2 (4, 25)

2
gazebo/flix.h
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@ -10,7 +10,7 @@
#include "Arduino.h"
#include "wifi.h"
#define RC_CHANNELS 6
#define RC_CHANNELS 16
#define MOTOR_REAR_LEFT 0
#define MOTOR_FRONT_LEFT 3