RC params refactor

AirLib/include/controllers/simple_flight/firmware/Mixer.hpp

@@ -20,7 +20,7 @@ class Mixer {
         //otherwise values in pitch/roll/yaw would get clipped randomly and can produce random results
         //in other words: we can't do angling if throttle is too low
         if (controls.throttle < params_->min_armed_output) {
-            motor_outputs.assign(params_->motor_count, controls.throttle);
+            motor_outputs.assign(params_->motor_count, params_->min_armed_output);
             return;
         }
 

AirLib/include/controllers/simple_flight/firmware/Params.hpp

@@ -6,14 +6,13 @@ namespace simple_flight {
 
 struct Params {
 public:
-    uint16_t rc_channel_count = 12;
-    uint16_t rc_read_interval_ms = 10;
-    int16_t rc_thrust_channel = 2;
-    int16_t rc_pitch_channel = 3;
-    int16_t rc_roll_channel = 0;
-    int16_t rc_yaw_channel = 1;
-
-    int16_t rc_rate_angle_channel = 6; //corresponds to switch 3
+    struct Rc {
+        uint16_t channel_count = 12;
+        uint16_t read_interval_ms = 10;
+        int16_t rate_level_mode_channel = 6; //corresponds to switch 3 on FrSky Taranis
+
+        Axis4<int16_t> channels = Axis4<int16_t>(2, 0, 3, 1);
+    } rc;
 
 
     //this should match up with target board

AirLib/include/controllers/simple_flight/firmware/RemoteControl.hpp

@@ -20,11 +20,10 @@ class RemoteControl : public IGoalInput {
     {
         IGoalInput::reset();
 
-        rc_channels_.assign(params_->rc_channel_count, 0);
-        last_rec_read_ = 0;
-
         goal_ = Axis4r();
         goal_mode_ = params_->default_goal_mode;
+        channel_vals_.assign(params_->rc.channel_count, 0);
+        last_rec_read_ = 0;
     }
 
     virtual void update() override
@@ -34,30 +33,30 @@ class RemoteControl : public IGoalInput {
         uint64_t time = clock_->millis();
 
         //don't keep reading if not updated
-        if (time - last_rec_read_ <= params_->rc_read_interval_ms)
+        if (time - last_rec_read_ <= params_->rc.read_interval_ms)
             return;
 
         last_rec_read_ = time;
 
         //read rc
-        for (uint16_t channel = 0; channel < params_->rc_channel_count; ++channel)
-            rc_channels_[channel] = board_inputs_->readChannel(channel);
+        for (uint16_t channel = 0; channel < params_->rc.channel_count; ++channel)
+            channel_vals_[channel] = board_inputs_->readChannel(channel);
 
-        goal_.throttle = rc_channels_[params_->rc_thrust_channel];
-        if (rc_channels_[params_->rc_rate_angle_channel] < 0.1f) { //approximately 0
+        goal_.throttle = channel_vals_[params_->rc.channels.throttle];
+        if (channel_vals_[params_->rc.rate_level_mode_channel] < 0.1f) { //approximately 0
             goal_mode_ = GoalMode::getStandardAngleMode();
 
             //we are in control-by-angles mode
-            goal_.axis3.pitch() = params_->max_angle_level.pitch() * rc_channels_[params_->rc_pitch_channel];
-            goal_.axis3.roll() = params_->max_angle_level.roll() * rc_channels_[params_->rc_roll_channel];
-            goal_.axis3.yaw() = params_->max_angle_level.yaw() * rc_channels_[params_->rc_yaw_channel];
+            goal_.axis3.pitch() = params_->max_angle_level.pitch() * channel_vals_[params_->rc.channels.axis3.pitch()];
+            goal_.axis3.roll() = params_->max_angle_level.roll() * channel_vals_[params_->rc_roll_channel];
+            goal_.axis3.yaw() = params_->max_angle_level.yaw() * channel_vals_[params_->rc_yaw_channel];
         }
         else { //we are in control-by-rate mode
             goal_mode_ = GoalMode::getAllRateMode();
 
-            goal_.axis3.pitch() = params_->max_angle_rate.pitch() * rc_channels_[params_->rc_pitch_channel];
-            goal_.axis3.roll() = params_->max_angle_rate.roll() * rc_channels_[params_->rc_roll_channel];
-            goal_.axis3.yaw() = params_->max_angle_rate.yaw() * rc_channels_[params_->rc_yaw_channel];
+            goal_.axis3.pitch() = params_->max_angle_rate.pitch() * channel_vals_[params_->rc_pitch_channel];
+            goal_.axis3.roll() = params_->max_angle_rate.roll() * channel_vals_[params_->rc_roll_channel];
+            goal_.axis3.yaw() = params_->max_angle_rate.yaw() * channel_vals_[params_->rc_yaw_channel];
         }
 
     }
@@ -72,6 +71,15 @@ class RemoteControl : public IGoalInput {
         return goal_mode_;
     }
 
+private:
+    enum class RcRequestType {
+        None, ArmRequest, DisarmRequest
+    };
+
+    RcRequestType getRcRequest()
+    {
+
+    }
 
 private:
     const IBoardClock* clock_;
@@ -81,7 +89,7 @@ class RemoteControl : public IGoalInput {
     Axis4r goal_;
     GoalMode goal_mode_;
 
-    std::vector<float> rc_channels_;
+    std::vector<float> channel_vals_;
     uint64_t last_rec_read_;
 };
 

AirLib/include/controllers/simple_flight/firmware/interfaces/CommonStructs.hpp

@@ -44,10 +44,18 @@ class Axis3 {
 };
 typedef Axis3<TReal> Axis3r;
 
-struct Axis4r {
-    TReal throttle = 0;
-    Axis3r axis3;
+template<typename T>
+struct Axis4 {
+    T throttle = 0;
+    Axis3<T> axis3;
+
+    Axis4(const T& throttle_val = T(), const T& x_val = T(), const T& y_val = T(), const T& z_val = T())
+        : throttle(throttle_val), axis(x_val, y_val, z_val)
+    {
+    }
 };
+typedef Axis4<TReal> Axis4r;
+
 
 enum class GoalModeType {
     AngleLevel,