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增加了遥控器键鼠接收的平滑

This commit is contained in:
NeoZng 2023-04-23 14:51:02 +08:00
parent eba6c4fe4f
commit 4ef3aa2f76
1 changed files with 3 additions and 3 deletions
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6
modules/remote/remote_control.c
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@ -5,6 +5,7 @@
#include "stdlib.h" #include "stdlib.h"
#include "daemon.h" #include "daemon.h"
#define RC_MOUSE_SMOOTH_COEF 0.9 // 鼠标平滑滤波器的阶数
#define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小 #define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小
// 遥控器数据 // 遥控器数据
static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断 static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断
@ -48,9 +49,8 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch left rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch left
// 鼠标解析 // 鼠标解析
rc_ctrl[TEMP].mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis rc_ctrl[TEMP].mouse.x = (float)(sbus_buf[6] | (sbus_buf[7] << 8))*RC_MOUSE_SMOOTH_COEF + (1-RC_MOUSE_SMOOTH_COEF)*(float)(rc_ctrl[LAST].mouse.x); //!< Mouse X axis
rc_ctrl[TEMP].mouse.y = sbus_buf[8] | (sbus_buf[9] << 8); //!< Mouse Y axis rc_ctrl[TEMP].mouse.y = (float)(sbus_buf[8] | (sbus_buf[9] << 8))*RC_MOUSE_SMOOTH_COEF + (1-RC_MOUSE_SMOOTH_COEF)*(float)(rc_ctrl[TEMP].mouse.y); //!< Mouse Y axis
rc_ctrl[TEMP].mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
rc_ctrl[TEMP].mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ? rc_ctrl[TEMP].mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
rc_ctrl[TEMP].mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ? rc_ctrl[TEMP].mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?