20 controller receive radio control signals

src/flight-controller/receiver.cpp

@@ -44,3 +44,11 @@ void FlushRadioBuffer() {
 }
 
 bool IsDroneArmed() { return armed; }
+
+int GetDroneThrottle() { return throttle; }
+
+int GetDroneRoll() { return roll; }
+
+int GetDronePitch() { return pitch; }
+
+int GetDroneYaw() { return yaw; }

src/flight-controller/receiver.h

@@ -1,4 +1,10 @@
 #pragma once
 
+// Reference variables:
 bool IsDroneArmed();
-void FlushRadioBuffer();
+int GetDroneThrottle();
+int GetDroneRoll();
+int GetDronePitch();
+int GetDroneYaw();
+
+void FlushRadioBuffer();

src/flight-controller/view.cpp

@@ -47,5 +47,8 @@ void UpdateView() {
   Image ledDisplay = Image(LED_DISPLAY_SIZE, LED_DISPLAY_SIZE);
   viewBatteryLevel(ledDisplay);
   DisplayArmed(IsDroneArmed(), ledDisplay);
+  DisplayThrottle(GetDroneThrottle(), ledDisplay);
+  DisplayPitchRoll(GetDroneRoll(), GetDronePitch(), ledDisplay);
+  DisplayYaw(GetDroneYaw(), ledDisplay);
   uBit.display.print(ledDisplay);
 }

src/hand-controller/view.cpp

@@ -8,40 +8,14 @@
 
 // MicroBit display
 const uint16_t LED_DISPLAY_SIZE = 5;
-const int LED_ON = 255;
-
-static void displayThrottle(Image &ledDisplay) {
-  int throttle = GetThrottle();
-  if (throttle == 0) {
-    return;
-  } else {
-    int y = floor(4 - (throttle / 25));
-    ledDisplay.setPixelValue(0, y, LED_ON);
-  }
-}
-
-static uint16_t angleToDisplayCoord(int angle) {
-  return static_cast<uint16_t>(std::round((angle + 45) / 22.5));
-}
-
-static void displayPitchRoll(Image &ledDisplay) {
-  uint16_t x = angleToDisplayCoord(GetRoll());
-  uint16_t y = angleToDisplayCoord(GetPitch());
-  ledDisplay.setPixelValue(x, y, LED_ON);
-}
-
-static void displayYaw(Image &ledDisplay) {
-  uint16_t x = static_cast<uint16_t>(GetYaw() / 30 + 2);
-  ledDisplay.setPixelValue(x, 0, LED_ON);
-}
 
 void UpdateDisplay() {
   uBit.display.clear();
 
   Image ledDisplay = Image(LED_DISPLAY_SIZE, LED_DISPLAY_SIZE);
   DisplayArmed(IsArmed(), ledDisplay);
-  displayThrottle(ledDisplay);
-  displayPitchRoll(ledDisplay);
-  displayYaw(ledDisplay);
+  DisplayThrottle(GetThrottle(), ledDisplay);
+  DisplayPitchRoll(GetRoll(), GetPitch(), ledDisplay);
+  DisplayYaw(GetYaw(), ledDisplay);
   uBit.display.print(ledDisplay);
 }

src/utilites.cpp

@@ -3,6 +3,12 @@
 static int pulseDirection = 15;
 static int armedPulse = 0;
 
+static const int LED_ON = 255;
+
+static uint16_t angleToDisplayCoord(int angle) {
+  return static_cast<uint16_t>(std::round((angle + 45) / 22.5));
+}
+
 static void updatePulse() {
   armedPulse += pulseDirection;
 
@@ -20,4 +26,24 @@ void DisplayArmed(bool isArmed, Image &ledDisplay) {
   } else {
     armedPulse = 0;
   }
+}
+
+void DisplayThrottle(int throttle, Image &ledDisplay) {
+  if (throttle == 0) {
+    return;
+  } else {
+    int y = floor(4 - (throttle / 25));
+    ledDisplay.setPixelValue(0, y, LED_ON);
+  }
+}
+
+void DisplayPitchRoll(int roll, int pitch, Image &ledDisplay) {
+  uint16_t x = angleToDisplayCoord(roll);
+  uint16_t y = angleToDisplayCoord(pitch);
+  ledDisplay.setPixelValue(x, y, LED_ON);
+}
+
+void DisplayYaw(int yaw, Image &ledDisplay) {
+  uint16_t x = static_cast<uint16_t>(yaw / 30 + 2);
+  ledDisplay.setPixelValue(x, 0, LED_ON);
 }

src/utilities.h

@@ -1,4 +1,10 @@
 #pragma once
 #include <MicroBit.h>
 
-void DisplayArmed(bool isArmed, Image &ledDisplay);
+void DisplayArmed(bool isArmed, Image &ledDisplay);
+
+void DisplayThrottle(int throttle, Image &ledDisplay);
+
+void DisplayPitchRoll(int roll, int pitch, Image &ledDisplay);
+
+void DisplayYaw(int yaw, Image &ledDisplay);