Add parameters to config.h

flix/config.h

@@ -1 +1,55 @@
+// Wi-Fi
 #define WIFI_ENABLED 1
+#define WIFI_SSID "flix"
+#define WIFI_PASSWORD "flixwifi"
+#define WIFI_UDP_PORT 14550
+#define WIFI_UDP_REMOTE_PORT 14550
+#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
+
+// Motors
+#define MOTOR_0_PIN 12 // rear left
+#define MOTOR_1_PIN 13 // rear right
+#define MOTOR_2_PIN 14 // front right
+#define MOTOR_3_PIN 15 // front left
+#define PWM_FREQUENCY 78000
+#define PWM_RESOLUTION 10
+#define PWM_STOP 0
+#define PWM_MIN 0
+#define PWM_MAX 1000000 / PWM_FREQUENCY
+
+// Control
+#define PITCHRATE_P 0.05
+#define PITCHRATE_I 0.2
+#define PITCHRATE_D 0.001
+#define PITCHRATE_I_LIM 0.3
+#define ROLLRATE_P PITCHRATE_P
+#define ROLLRATE_I PITCHRATE_I
+#define ROLLRATE_D PITCHRATE_D
+#define ROLLRATE_I_LIM PITCHRATE_I_LIM
+#define YAWRATE_P 0.3
+#define YAWRATE_I 0.0
+#define YAWRATE_D 0.0
+#define YAWRATE_I_LIM 0.3
+#define ROLL_P 6
+#define ROLL_I 0
+#define ROLL_D 0
+#define PITCH_P ROLL_P
+#define PITCH_I ROLL_I
+#define PITCH_D ROLL_D
+#define YAW_P 3
+#define PITCHRATE_MAX radians(360)
+#define ROLLRATE_MAX radians(360)
+#define YAWRATE_MAX radians(300)
+#define TILT_MAX radians(30)
+#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+
+// Estimation
+#define WEIGHT_ACC 0.003
+#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+
+// MAVLink
+#define SYSTEM_ID 1
+
+// Safety
+#define RC_LOSS_TIMEOUT 1
+#define DESCEND_TIME 10

flix/control.cpp

@@ -3,37 +3,13 @@
 
 // Flight control
 
+#include "config.h"
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
 #include "lpf.h"
 #include "util.h"
 
-#define PITCHRATE_P 0.05
-#define PITCHRATE_I 0.2
-#define PITCHRATE_D 0.001
-#define PITCHRATE_I_LIM 0.3
-#define ROLLRATE_P PITCHRATE_P
-#define ROLLRATE_I PITCHRATE_I
-#define ROLLRATE_D PITCHRATE_D
-#define ROLLRATE_I_LIM PITCHRATE_I_LIM
-#define YAWRATE_P 0.3
-#define YAWRATE_I 0.0
-#define YAWRATE_D 0.0
-#define YAWRATE_I_LIM 0.3
-#define ROLL_P 6
-#define ROLL_I 0
-#define ROLL_D 0
-#define PITCH_P ROLL_P
-#define PITCH_I ROLL_I
-#define PITCH_D ROLL_D
-#define YAW_P 3
-#define PITCHRATE_MAX radians(360)
-#define ROLLRATE_MAX radians(360)
-#define YAWRATE_MAX radians(300)
-#define TILT_MAX radians(30)
-#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
-
 extern const int MANUAL = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 

flix/estimate.cpp

@@ -3,15 +3,13 @@
 
 // Attitude estimation from gyro and accelerometer
 
+#include "config.h"
 #include "flix.h"
 #include "quaternion.h"
 #include "vector.h"
 #include "lpf.h"
 #include "util.h"
 
-#define WEIGHT_ACC 0.003
-#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
-
 Vector rates; // filtered angular rates, rad/s
 Quaternion attitude; // estimated attitude
 bool landed; // are we landed and stationary

flix/imu.cpp

@@ -11,11 +11,8 @@
 
 MPU9250 imu(SPI);
 
-Vector gyro; // gyroscope data
+Vector gyro, gyroBias;
-Vector gyroBias; // gyroscope bias
+Vector acc, accBias, accScale(1, 1, 1);
-Vector acc; // accelerometer data, m/s/s
-Vector accBias; // accelerometer bias
-Vector accScale(1, 1, 1); // accelerometer scale
 
 extern float loopRate;
 

flix/mavlink.cpp

@@ -4,14 +4,13 @@
 // MAVLink communication
 
 #include <Arduino.h>
-#include "flix.h"
 #include "config.h"
+#include "flix.h"
 
 #if WIFI_ENABLED
 
 #include <MAVLink.h>
 
-#define SYSTEM_ID 1
 #define PERIOD_SLOW 1.0
 #define PERIOD_FAST 0.1
 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f

flix/motors.cpp

@@ -5,20 +5,10 @@
 // In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400)
 
 #include <Arduino.h>
+#include "config.h"
 #include "flix.h"
 #include "util.h"
 
-#define MOTOR_0_PIN 12 // rear left
-#define MOTOR_1_PIN 13 // rear right
-#define MOTOR_2_PIN 14 // front right
-#define MOTOR_3_PIN 15 // front left
-
-#define PWM_FREQUENCY 78000
-#define PWM_RESOLUTION 10
-#define PWM_STOP 0
-#define PWM_MIN 0
-#define PWM_MAX 1000000 / PWM_FREQUENCY
-
 float motors[4]; // normalized motors thrust in range [0..1]
 extern const int MOTOR_REAR_LEFT = 0;
 extern const int MOTOR_REAR_RIGHT = 1;

flix/safety.cpp

@@ -3,11 +3,9 @@
 
 // Fail-safe functions
 
+#include "config.h"
 #include "flix.h"
 
-#define RC_LOSS_TIMEOUT 1
-#define DESCEND_TIME 10
-
 extern float controlTime;
 extern const int AUTO, STAB;
 

flix/wifi.cpp

@@ -12,12 +12,6 @@
 #include <WiFiAP.h>
 #include <WiFiUdp.h>
 
-#define WIFI_SSID "flix"
-#define WIFI_PASSWORD "flixwifi"
-#define WIFI_UDP_PORT 14550
-#define WIFI_UDP_REMOTE_PORT 14550
-#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
-
 WiFiUDP udp;
 
 void setupWiFi() {