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Implement RC calibration, common for the real drone and the simulation

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This commit is contained in:
Oleg Kalachev
2024-01-02 11:54:09 +03:00
parent 78f3f6e3b3
commit f520b57abe
9 changed files with 74 additions and 20 deletions
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4
gazebo/Arduino.h
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@@ -52,6 +52,10 @@ public:
return result;
}
size_t print(int n) {
return printf("%d", n);
}
size_t print(float n, int digits = 2) {
return printf("%.*f", digits, n);
}

13
gazebo/SBUS.h Normal file
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@@ -0,0 +1,13 @@
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
// SBUS library mock to make it possible to compile simulator with rc.ino
#include "joystick.h"
class SBUS {
public:
SBUS(HardwareSerial& bus) {};
void begin() {};
bool read(int16_t* channels, bool* failsafe, bool* lostFrame) { joystickGet(); return true; }; // NOTE: on the hardware channels is uint16_t
};

1
gazebo/flix.h
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@@ -39,6 +39,7 @@ void controlTorque();
void showTable();
bool motorsActive();
void cliTestMotor(uint8_t n);
void printRCCal();
// mocks
void setLED(bool on) {};

24
gazebo/joystick.h
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@@ -7,10 +7,9 @@
#include <gazebo/gazebo.hh>
#include <iostream>
// NOTE: this should be changed to the actual calibration values
const int16_t channelNeutralMin[] = {-1290, -258, -26833, 0, 0, 0};
const int16_t channelNeutralMax[] = {-1032, -258, -27348, 3353, 0, 0};
const int16_t channelMax[] = {27090, 27090, 27090, 27090, 0, 0};
// simulation calibration overrides, NOTE: use `cr` command and replace with the actual values
const int channelNeutralOverride[] = {-258, -258, -27349, 0, 0, 1};
const int channelMaxOverride[] = {27090, 27090, 27090, 27090, 0, 1};
#define RC_CHANNEL_ROLL 0
#define RC_CHANNEL_PITCH 1
@@ -34,6 +33,12 @@ void joystickInit() {
gzwarn << "Joystick not found, begin waiting for joystick..." << std::endl;
warnShown = true;
}
// apply calibration overrides
extern int channelNeutral[RC_CHANNELS];
extern int channelMax[RC_CHANNELS];
memcpy(channelNeutral, channelNeutralOverride, sizeof(channelNeutralOverride));
memcpy(channelMax, channelMaxOverride, sizeof(channelMaxOverride));
}
void joystickGet() {
@@ -52,14 +57,3 @@ void joystickGet() {
normalizeRC();
}
void normalizeRC() {
for (uint8_t i = 0; i < 4; i++) {
if (channels[i] >= channelNeutralMin[i] && channels[i] <= channelNeutralMax[i]) {
controls[i] = 0;
} else {
controls[i] = mapf(channels[i], (channelNeutralMin[i] + channelNeutralMax[i]) / 2, channelMax[i], 0, 1);
}
}
controls[RC_CHANNEL_THROTTLE] = constrain(controls[RC_CHANNEL_THROTTLE], 0, 1);
}

2
gazebo/simulator.cpp
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@@ -19,7 +19,7 @@
#include "flix.h"
#include "util.h"
#include "util.ino"
#include "joystick.h"
#include "rc.ino"
#include "time.ino"
#include "estimate.ino"
#include "control.ino"