Make channels definition to rc.ino

It's also planned to parametrize them later

flix/cli.ino

@@ -8,6 +8,7 @@
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern float loopRate;
+extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
 
 const char* motd =
 "\nWelcome to\n"
@@ -65,11 +66,11 @@ void doCommand(String& command, String& arg0, String& arg1) {
 		Serial.printf("rate: %f\n", loopRate);
 	} else if (command == "rc") {
 		Serial.printf("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n",
-			channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH],
-			channels[RC_CHANNEL_ROLL], channels[RC_CHANNEL_ARMED], channels[RC_CHANNEL_MODE]);
+			channels[throttleChannel], channels[yawChannel], channels[pitchChannel],
+			channels[rollChannel], channels[armedChannel], channels[modeChannel]);
 		Serial.printf("Control: throttle %g yaw %g pitch %g roll %g armed %g mode %g\n",
-			controls[RC_CHANNEL_THROTTLE], controls[RC_CHANNEL_YAW], controls[RC_CHANNEL_PITCH],
-			controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_ARMED], controls[RC_CHANNEL_MODE]);
+			controls[throttleChannel], controls[yawChannel], controls[pitchChannel],
+			controls[rollChannel], controls[armedChannel], controls[modeChannel]);
 		Serial.printf("Mode: %s\n", getModeName());
 	} else if (command == "mot") {
 		Serial.printf("Motors: front-right %g front-left %g rear-right %g rear-left %g\n",

flix/control.ino

@@ -54,6 +54,7 @@ Vector torqueTarget;
 float thrustTarget;
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
+extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
 
 void control() {
 	interpretRC();
@@ -71,38 +72,38 @@ void control() {
 }
 
 void interpretRC() {
-	armed = controls[RC_CHANNEL_THROTTLE] >= 0.05 && controls[RC_CHANNEL_ARMED] >= 0.5;
+	armed = controls[throttleChannel] >= 0.05 && controls[armedChannel] >= 0.5;
 
 	// NOTE: put ACRO or MANUAL modes there if you want to use them
-	if (controls[RC_CHANNEL_MODE] < 0.25) {
+	if (controls[modeChannel] < 0.25) {
 		mode = STAB;
-	} else if (controls[RC_CHANNEL_MODE] < 0.75) {
+	} else if (controls[modeChannel] < 0.75) {
 		mode = STAB;
 	} else {
 		mode = STAB;
 	}
 
-	thrustTarget = controls[RC_CHANNEL_THROTTLE];
+	thrustTarget = controls[throttleChannel];
 
 	if (mode == ACRO) {
 		yawMode = YAW_RATE;
-		ratesTarget.x = controls[RC_CHANNEL_ROLL] * maxRate.x;
-		ratesTarget.y = controls[RC_CHANNEL_PITCH] * maxRate.y;
-		ratesTarget.z = -controls[RC_CHANNEL_YAW] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.x = controls[rollChannel] * maxRate.x;
+		ratesTarget.y = controls[pitchChannel] * maxRate.y;
+		ratesTarget.z = -controls[yawChannel] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
 
 	} else if (mode == STAB) {
-		yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE;
+		yawMode = controls[yawChannel] == 0 ? YAW : YAW_RATE;
 
 		attitudeTarget = Quaternion::fromEulerZYX(Vector(
-			controls[RC_CHANNEL_ROLL] * tiltMax,
-			controls[RC_CHANNEL_PITCH] * tiltMax,
+			controls[rollChannel] * tiltMax,
+			controls[pitchChannel] * tiltMax,
 			attitudeTarget.getYaw()));
-		ratesTarget.z = -controls[RC_CHANNEL_YAW] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.z = -controls[yawChannel] * maxRate.z; // positive yaw stick means clockwise rotation in FLU
 
 	} else if (mode == MANUAL) {
 		// passthrough mode
 		yawMode = YAW_RATE;
-		torqueTarget = Vector(controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_PITCH], -controls[RC_CHANNEL_YAW]) * 0.01;
+		torqueTarget = Vector(controls[rollChannel], controls[pitchChannel], -controls[yawChannel]) * 0.01;
 	}
 
 	if (yawMode == YAW_RATE || !motorsActive()) {

flix/failsafe.ino

@@ -6,6 +6,8 @@
 #define RC_LOSS_TIMEOUT 0.2
 #define DESCEND_TIME 3.0 // time to descend from full throttle to zero
 
+extern int rollChannel, pitchChannel, throttleChannel, yawChannel;
+
 void failsafe() {
 	if (t - controlsTime > RC_LOSS_TIMEOUT) {
 		descend();
@@ -15,9 +17,9 @@ void failsafe() {
 void descend() {
 	// Smooth descend on RC lost
 	mode = STAB;
-	controls[RC_CHANNEL_ROLL] = 0;
-	controls[RC_CHANNEL_PITCH] = 0;
-	controls[RC_CHANNEL_YAW] = 0;
-	controls[RC_CHANNEL_THROTTLE] -= dt / DESCEND_TIME;
-	if (controls[RC_CHANNEL_THROTTLE] < 0) controls[RC_CHANNEL_THROTTLE] = 0;
+	controls[rollChannel] = 0;
+	controls[pitchChannel] = 0;
+	controls[throttleChannel] = 0;
+	controls[throttleChannel] -= dt / DESCEND_TIME;
+	if (controls[throttleChannel] < 0) controls[throttleChannel] = 0;
 }

flix/flix.ino

@@ -10,18 +10,10 @@
 #define SERIAL_BAUDRATE 115200
 #define WIFI_ENABLED 1
 
-#define RC_CHANNELS 16
-#define RC_CHANNEL_ROLL 0
-#define RC_CHANNEL_PITCH 1
-#define RC_CHANNEL_THROTTLE 2
-#define RC_CHANNEL_YAW 3
-#define RC_CHANNEL_ARMED 4
-#define RC_CHANNEL_MODE 5
-
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
-int16_t channels[RC_CHANNELS]; // raw rc channels
-float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
+int16_t channels[16]; // raw rc channels
+float controls[16]; // normalized controls in range [-1..1] ([0..1] for throttle)
 float controlsTime; // time of the last controls update
 Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s

flix/mavlink.ino

@@ -13,6 +13,8 @@
 #define MAVLINK_CONTROL_SCALE 0.7f
 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
 
+extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+
 void processMavlink() {
 	sendMavlink();
 	receiveMavlink();
@@ -88,15 +90,15 @@ void handleMavlink(const void *_msg) {
 	if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
 		mavlink_manual_control_t manualControl;
 		mavlink_msg_manual_control_decode(msg, &manualControl);
-		controls[RC_CHANNEL_THROTTLE] = manualControl.z / 1000.0f;
-		controls[RC_CHANNEL_PITCH] = manualControl.x / 1000.0f * MAVLINK_CONTROL_SCALE;
-		controls[RC_CHANNEL_ROLL] = manualControl.y / 1000.0f * MAVLINK_CONTROL_SCALE;
-		controls[RC_CHANNEL_YAW] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
-		controls[RC_CHANNEL_MODE] = 1; // STAB mode
-		controls[RC_CHANNEL_ARMED] = 1; // armed
+		controls[throttleChannel] = manualControl.z / 1000.0f;
+		controls[pitchChannel] = manualControl.x / 1000.0f * MAVLINK_CONTROL_SCALE;
+		controls[rollChannel] = manualControl.y / 1000.0f * MAVLINK_CONTROL_SCALE;
+		controls[yawChannel] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
+		controls[modeChannel] = 1; // STAB mode
+		controls[armedChannel] = 1; // armed
 		controlsTime = t;
 
-		if (abs(controls[RC_CHANNEL_YAW]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[RC_CHANNEL_YAW] = 0;
+		if (abs(controls[yawChannel]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[yawChannel] = 0;
 	}
 
 	if (msg->msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) {

flix/rc.ino

@@ -6,8 +6,16 @@
 #include <SBUS.h>
 #include "util.h"
 
-float channelNeutral[RC_CHANNELS] = {NAN}; // first element NAN means not calibrated
-float channelMax[RC_CHANNELS];
+// RC channels mapping:
+int rollChannel = 0;
+int pitchChannel = 1;
+int throttleChannel = 2;
+int yawChannel = 3;
+int armedChannel = 4;
+int modeChannel = 5;
+
+float channelNeutral[16] = {NAN}; // first element NAN means not calibrated
+float channelMax[16];
 
 SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
 
@@ -27,7 +35,7 @@ void readRC() {
 
 void normalizeRC() {
 	if (isnan(channelNeutral[0])) return; // skip if not calibrated
-	for (uint8_t i = 0; i < RC_CHANNELS; i++) {
+	for (uint8_t i = 0; i < 16; i++) {
 		controls[i] = mapf(channels[i], channelNeutral[i], channelMax[i], 0, 1);
 	}
 }
@@ -37,14 +45,14 @@ void calibrateRC() {
 	Serial.println("··o     ··o\n···     ···\n···     ···");
 	delay(4000);
 	for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated
-	for (int i = 0; i < RC_CHANNELS; i++) {
+	for (int i = 0; i < 16; i++) {
 		channelMax[i] = channels[i];
 	}
 	Serial.println("Calibrate RC: move all sticks to neutral positions in 4 seconds");
 	Serial.println("···     ···\n···     ·o·\n·o·     ···");
 	delay(4000);
 	for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated
-	for (int i = 0; i < RC_CHANNELS; i++) {
+	for (int i = 0; i < 16; i++) {
 		channelNeutral[i] = channels[i];
 	}
 	printRCCal();

gazebo/flix.h

@@ -17,7 +17,7 @@ float t = NAN;
 float dt;
 float motors[4];
 int16_t channels[16]; // raw rc channels
-float controls[RC_CHANNELS];
+float controls[16];
 float controlsTime;
 Vector acc;
 Vector gyro;

gazebo/joystick.h

@@ -7,13 +7,6 @@
 #include <gazebo/gazebo.hh>
 #include <iostream>
 
-#define RC_CHANNEL_ROLL 0
-#define RC_CHANNEL_PITCH 1
-#define RC_CHANNEL_THROTTLE 2
-#define RC_CHANNEL_YAW 3
-#define RC_CHANNEL_ARMED 5
-#define RC_CHANNEL_MODE 4
-
 SDL_Joystick *joystick;
 
 bool joystickInit() {

gazebo/simulator.cpp

@@ -72,8 +72,8 @@ class ModelFlix : public ModelPlugin {
 
 		// read rc
 		readRC();
-		controls[RC_CHANNEL_MODE] = 1; // 0 acro, 1 stab
-		controls[RC_CHANNEL_ARMED] = 1; // armed
+		controls[modeChannel] = 1; // 0 acro, 1 stab
+		controls[armedChannel] = 1; // armed
 
 		estimate();