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https://github.com/okalachev/flix.git
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52819e403b
Implement channels mapping calibration. Store mapping in parameters. Get rid of `controls` array and store control inputs in `controlRoll`, `controlPitch`, ... variables. Move `channels` variable to rc.ino, channels are not involved when controled using mavlink. 'Neutral' values are renamed to 'zero' - more precise naming. `controlsTime` is renamed to `controlTime`. Use unsigned values for channels. Make channel values in simulation more alike to real world: unsigned values in range [1000, 2000]. Send RC_CHANNELS_RAW instead of RC_CHANNELS_SCALED via mavlink Don't send channels data via mavlink if rc is not used
27 lines
684 B
C++
27 lines
684 B
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// SBUS library mock to make it possible to compile simulator with rc.ino
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#include "joystick.h"
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struct SBUSData {
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int16_t ch[16];
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};
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class SBUS {
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public:
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SBUS(HardwareSerial& bus, const bool inv = true) {};
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SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
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void begin() {};
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bool read() { return joystickInit(); };
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SBUSData data() {
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SBUSData data;
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joystickGet(data.ch);
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for (int i = 0; i < 16; i++) {
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data.ch[i] = map(data.ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style
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}
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return data;
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};
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};
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