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changed order per aarav, also added initial up command #170

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Merged
evinlodder merged 3 commits into from
Apr 12, 2026
Merged

changed order per aarav, also added initial up command #170

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4dc2164
changed order per aarav, also added initial up command
evinlodder Apr 12, 2026
448bb1f
added empty commands with initial up to pad to 3 characters
evinlodder Apr 12, 2026
38e97b3
fixed order
evinlodder Apr 12, 2026
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12 changes: 9 additions & 3 deletions test_node/app/src/threads/rc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,10 @@ 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]
// order should (i think) be 1. [U/D] 2. [L/R] 3. [F/B]

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uart_poll_out(uart_dev, command.rc_vert);

if(command.rc_horiz == 'F' || command.rc_horiz == 'B') {
uart_poll_out(uart_dev, 'I');
uart_poll_out(uart_dev, command.rc_horiz);
Expand All @@ -27,8 +30,6 @@ bool rc_command_received(rc_data_t command) {
uart_poll_out(uart_dev, 'I');
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}

uart_poll_out(uart_dev, command.rc_vert);

return true;
}

Expand All @@ -39,6 +40,11 @@ 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_poll_out(dev, 'I');
uart_poll_out(dev, 'I');

uart_dev = dev;
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return 0;
}
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