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Port changes from commit 52819e4

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Oleg Kalachev
2025-07-15 01:22:18 +03:00
parent 4d1f9de872
commit 0c87d4d634
11 changed files with 98 additions and 76 deletions
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docs/firmware.md
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@@ -12,7 +12,7 @@ The main loop is running at 1000 Hz. All the dataflow is happening through globa
* `acc` *(Vector)* — acceleration data from the accelerometer, *m/s<sup>2</sup>*.
* `rates` *(Vector)* — filtered angular rates, *rad/s*.
* `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
* `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range.
* `controlRoll`, `controlPitch`, ... *(float[])* — pilot's control inputs, range [-1, 1].
* `motors` *(float[])* — motor outputs, normalized to [0, 1] range; reverse rotation is possible.
## Source files