VladislavOstapov/sdrpi-fpv-control
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рабочий sbus в воздухе

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Vladislav Ostapov
2025-11-24 19:31:25 +03:00
parent 76fa76f5b8
commit 8aab304e5f
2 changed files with 19 additions and 9 deletions
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24
air/main.cpp
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@@ -85,6 +85,8 @@ struct SbusData {
bool failsafe = false; bool failsafe = false;
bool ch17 = false, ch18 = false; bool ch17 = false, ch18 = false;
static constexpr size_t NUM_CH = 16; static constexpr size_t NUM_CH = 16;
static constexpr int16_t SBUS_CH_MIN = 173;
static constexpr int16_t SBUS_CH_MAX = 1812;
int16_t ch[NUM_CH]; int16_t ch[NUM_CH];
/* Message len */ /* Message len */
@@ -253,16 +255,24 @@ int main(int argc, char* argv[]) {
packet_count++; packet_count++;
for (int i = 0; i < data.size() && i < SbusData::NUM_CH; ++i) { for (int i = 0; i < data.size() && i < SbusData::NUM_CH; ++i) {
auto item = static_cast<int16_t>(data[i]); auto item = static_cast<double>(data[i]);
sb.ch[i] = static_cast<int16_t>((item - 1000.0) * 2); item -= 1000.0;
if (sb.ch[i] < 50) { item = std::min(item, 1000.0);
sb.ch[i] = 50; // минимальное число item = std::max(item, 0.0);
} else if (sb.ch[i] > 1900) { item *= (SbusData::SBUS_CH_MAX - SbusData::SBUS_CH_MIN) / 1000.0;
sb.ch[i] = 1900; // максимальное число item += SbusData::SBUS_CH_MIN;
sb.ch[i] = static_cast<int16_t>(item);
if (sb.ch[i] < SbusData::SBUS_CH_MIN) {
sb.ch[i] = SbusData::SBUS_CH_MIN; // минимальное число
} else if (sb.ch[i] > SbusData::SBUS_CH_MAX) {
sb.ch[i] = SbusData::SBUS_CH_MAX; // максимальное число
} }
} }
sb.fillDataBuf(); sb.fillDataBuf();
serial.write(sb.buf_); if (!serial.write(sb.buf_)) {
break;
}
// Выводим статистику каждые 100 пакетов // Выводим статистику каждые 100 пакетов
if (packet_count % 100 == 0) { if (packet_count % 100 == 0) {

4
ground/main.cpp
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@@ -27,8 +27,8 @@ int main(int argc, char* argv[]) {
JoystickReader reader; JoystickReader reader;
const int64_t timeInterval = 1000 / frequency; const int64_t timeInterval = 1000 / frequency;
while (!reader.initialize()) { if (!reader.initialize()) {
std::this_thread::sleep_for(std::chrono::milliseconds(1000)); return 1;
} }
UDPSocket udp(sendAddress, 1066); UDPSocket udp(sendAddress, 1066);