This is part of feature/flight-zero, but I created a separate PR because this branch contains untested changes. I have mainly re-organised the code a bit while reviewing #16.
The main changes are:
Introduced some #defines in config.hpp with the maximum values of the trimmers (A, B, C, E) from the RC, that is, the maximum values of the gains
Introduced motorPwmSignals in out Controller class; this returns the PWM commands to the motors directly
In Radio, readPiData returns true if new data has been received from the RC. This can be used to check whether a connection with the RC has been established (in main.cpp)
Reorganised the code in main.cpp a bit
If these changes work we can merge this into feature/flight-zero and then merge the latter into dev.
Main Changes
This is part of
feature/flight-zero, but I created a separate PR because this branch contains untested changes. I have mainly re-organised the code a bit while reviewing #16.The main changes are:
#defines inconfig.hppwith the maximum values of the trimmers (A, B, C, E) from the RC, that is, the maximum values of the gainsmotorPwmSignalsin outControllerclass; this returns the PWM commands to the motors directlyRadio,readPiDatareturnstrueif new data has been received from the RC. This can be used to check whether a connection with the RC has been established (inmain.cpp)main.cppa bitIf these changes work we can merge this into
feature/flight-zeroand then merge the latter intodev.