From 4dc2164b55980cdc933e870500df2bba955ba6de Mon Sep 17 00:00:00 2001 From: Evin Lodder Date: Sun, 12 Apr 2026 13:56:41 -0400 Subject: [PATCH 1/3] changed order per aarav, also added initial up command --- test_node/app/src/threads/rc.c | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/test_node/app/src/threads/rc.c b/test_node/app/src/threads/rc.c index 0c9d5aa0..8261b8f8 100644 --- a/test_node/app/src/threads/rc.c +++ b/test_node/app/src/threads/rc.c @@ -18,8 +18,11 @@ bool rc_command_received(rc_data_t command) { // atomic_set(&latest_rc_command, (atomic_t)); // send the command over the UART interface // 'I' means idle - // order should (i think) be 1. [L/R] 2. [F/B] 3. [U/D] - if(command.rc_horiz == 'F' || command.rc_horiz == 'B') { + // order should (i think) be 1. [U/D] 2. [L/R] 3. [F/B] + + uart_poll_out(uart_dev, command.rc_vert); + + if(command.rc_horiz == 'L' || command.rc_horiz == 'R') { uart_poll_out(uart_dev, 'I'); uart_poll_out(uart_dev, command.rc_horiz); } else { @@ -27,8 +30,6 @@ bool rc_command_received(rc_data_t command) { uart_poll_out(uart_dev, 'I'); } - uart_poll_out(uart_dev, command.rc_vert); - return true; } @@ -39,6 +40,9 @@ int rc_init(const struct device* dev) { return -1; } + // send an initial UP command to DUT to start in hover state + uart_poll_out(dev, 'U'); + uart_dev = dev; return 0; } From 448bb1f05018ddb45e87721d89eeeb580cc38ba6 Mon Sep 17 00:00:00 2001 From: Evin Lodder Date: Sun, 12 Apr 2026 14:02:21 -0400 Subject: [PATCH 2/3] added empty commands with initial up to pad to 3 characters --- test_node/app/src/threads/rc.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/test_node/app/src/threads/rc.c b/test_node/app/src/threads/rc.c index 8261b8f8..45929754 100644 --- a/test_node/app/src/threads/rc.c +++ b/test_node/app/src/threads/rc.c @@ -42,6 +42,8 @@ int rc_init(const struct device* dev) { // send an initial UP command to DUT to start in hover state uart_poll_out(dev, 'U'); + uart_poll_out(dev, 'I'); + uart_poll_out(dev, 'I'); uart_dev = dev; return 0; From 38e97b3896958ec497a155baea060c5cacb89687 Mon Sep 17 00:00:00 2001 From: Evin Lodder Date: Sun, 12 Apr 2026 14:03:11 -0400 Subject: [PATCH 3/3] fixed order --- test_node/app/src/threads/rc.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test_node/app/src/threads/rc.c b/test_node/app/src/threads/rc.c index 45929754..43689e43 100644 --- a/test_node/app/src/threads/rc.c +++ b/test_node/app/src/threads/rc.c @@ -22,7 +22,7 @@ bool rc_command_received(rc_data_t command) { uart_poll_out(uart_dev, command.rc_vert); - if(command.rc_horiz == 'L' || command.rc_horiz == 'R') { + if(command.rc_horiz == 'F' || command.rc_horiz == 'B') { uart_poll_out(uart_dev, 'I'); uart_poll_out(uart_dev, command.rc_horiz); } else {