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97 lines
3.8 KiB
C++
97 lines
3.8 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// Work with the RC receiver
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#include <SBUS.h>
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#include "util.h"
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SBUS rc(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
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uint16_t channels[16]; // raw rc channels
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float controlTime; // time of the last controls update
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float channelZero[16]; // calibration zero values
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float channelMax[16]; // calibration max values
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// Channels mapping (using float to store in parameters):
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float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
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void setupRC() {
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print("Setup RC\n");
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rc.begin();
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}
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bool readRC() {
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if (rc.read()) {
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SBUSData data = rc.data();
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for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data
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normalizeRC();
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controlTime = t;
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return true;
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}
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return false;
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}
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void normalizeRC() {
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float controls[16];
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for (int i = 0; i < 16; i++) {
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controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1);
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}
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// Update control values
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controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : NAN;
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controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN;
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controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN;
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controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN;
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controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
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}
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void calibrateRC() {
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uint16_t zero[16];
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uint16_t center[16];
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uint16_t max[16];
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print("1/8 Calibrating RC: put all switches to default positions [3 sec]\n");
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pause(3);
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calibrateRCChannel(NULL, zero, zero, "2/8 Move sticks [3 sec]\n... ...\n... .o.\n.o. ...\n");
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calibrateRCChannel(NULL, center, center, "3/8 Move sticks [3 sec]\n... ...\n.o. .o.\n... ...\n");
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calibrateRCChannel(&throttleChannel, zero, max, "4/8 Move sticks [3 sec]\n.o. ...\n... .o.\n... ...\n");
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calibrateRCChannel(&yawChannel, center, max, "5/8 Move sticks [3 sec]\n... ...\n..o .o.\n... ...\n");
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calibrateRCChannel(&pitchChannel, zero, max, "6/8 Move sticks [3 sec]\n... .o.\n... ...\n.o. ...\n");
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calibrateRCChannel(&rollChannel, zero, max, "7/8 Move sticks [3 sec]\n... ...\n... ..o\n.o. ...\n");
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calibrateRCChannel(&modeChannel, zero, max, "8/8 Put mode switch to max [3 sec]\n");
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printRCCalibration();
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}
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void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const char *str) {
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print("%s", str);
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pause(3);
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for (int i = 0; i < 30; i++) readRC(); // try update 30 times max
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memcpy(out, channels, sizeof(channels));
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if (channel == NULL) return; // no channel to calibrate
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// Find channel that changed the most between in and out
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int ch = -1, diff = 0;
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for (int i = 0; i < 16; i++) {
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if (abs(out[i] - in[i]) > diff) {
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ch = i;
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diff = abs(out[i] - in[i]);
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}
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}
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if (ch >= 0 && diff > 10) { // difference threshold is 10
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*channel = ch;
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channelZero[ch] = in[ch];
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channelMax[ch] = out[ch];
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} else {
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*channel = NAN;
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}
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}
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void printRCCalibration() {
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print("Control Ch Zero Max\n");
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print("Roll %-7g%-7g%-7g\n", rollChannel, rollChannel >= 0 ? channelZero[(int)rollChannel] : NAN, rollChannel >= 0 ? channelMax[(int)rollChannel] : NAN);
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print("Pitch %-7g%-7g%-7g\n", pitchChannel, pitchChannel >= 0 ? channelZero[(int)pitchChannel] : NAN, pitchChannel >= 0 ? channelMax[(int)pitchChannel] : NAN);
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print("Yaw %-7g%-7g%-7g\n", yawChannel, yawChannel >= 0 ? channelZero[(int)yawChannel] : NAN, yawChannel >= 0 ? channelMax[(int)yawChannel] : NAN);
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print("Throttle %-7g%-7g%-7g\n", throttleChannel, throttleChannel >= 0 ? channelZero[(int)throttleChannel] : NAN, throttleChannel >= 0 ? channelMax[(int)throttleChannel] : NAN);
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print("Mode %-7g%-7g%-7g\n", modeChannel, modeChannel >= 0 ? channelZero[(int)modeChannel] : NAN, modeChannel >= 0 ? channelMax[(int)modeChannel] : NAN);
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}
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