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Lowercase imu and rc variables

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To make it more obvious these are variables, not classes.
This commit is contained in:
Oleg Kalachev
2025-10-17 19:02:46 +03:00
parent 6f0964fac4
commit 253aae2220
2 changed files with 23 additions and 23 deletions
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38
flix/imu.ino
View File

@@ -8,7 +8,7 @@
#include "lpf.h" #include "lpf.h"
#include "util.h" #include "util.h"
MPU9250 IMU(SPI); MPU9250 imu(SPI);
Vector accBias; Vector accBias;
Vector accScale(1, 1, 1); Vector accScale(1, 1, 1);
@@ -16,22 +16,22 @@ Vector gyroBias;
void setupIMU() { void setupIMU() {
print("Setup IMU\n"); print("Setup IMU\n");
IMU.begin(); imu.begin();
configureIMU(); configureIMU();
} }
void configureIMU() { void configureIMU() {
IMU.setAccelRange(IMU.ACCEL_RANGE_4G); imu.setAccelRange(imu.ACCEL_RANGE_4G);
IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS); imu.setGyroRange(imu.GYRO_RANGE_2000DPS);
IMU.setDLPF(IMU.DLPF_MAX); imu.setDLPF(imu.DLPF_MAX);
IMU.setRate(IMU.RATE_1KHZ_APPROX); imu.setRate(imu.RATE_1KHZ_APPROX);
IMU.setupInterrupt(); imu.setupInterrupt();
} }
void readIMU() { void readIMU() {
IMU.waitForData(); imu.waitForData();
IMU.getGyro(gyro.x, gyro.y, gyro.z); imu.getGyro(gyro.x, gyro.y, gyro.z);
IMU.getAccel(acc.x, acc.y, acc.z); imu.getAccel(acc.x, acc.y, acc.z);
calibrateGyroOnce(); calibrateGyroOnce();
// apply scale and bias // apply scale and bias
acc = (acc - accBias) / accScale; acc = (acc - accBias) / accScale;
@@ -59,7 +59,7 @@ void calibrateGyroOnce() {
void calibrateAccel() { void calibrateAccel() {
print("Calibrating accelerometer\n"); print("Calibrating accelerometer\n");
IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode imu.setAccelRange(imu.ACCEL_RANGE_2G); // the most sensitive mode
print("1/6 Place level [8 sec]\n"); print("1/6 Place level [8 sec]\n");
pause(8); pause(8);
@@ -93,9 +93,9 @@ void calibrateAccelOnce() {
// Compute the average of the accelerometer readings // Compute the average of the accelerometer readings
acc = Vector(0, 0, 0); acc = Vector(0, 0, 0);
for (int i = 0; i < samples; i++) { for (int i = 0; i < samples; i++) {
IMU.waitForData(); imu.waitForData();
Vector sample; Vector sample;
IMU.getAccel(sample.x, sample.y, sample.z); imu.getAccel(sample.x, sample.y, sample.z);
acc = acc + sample; acc = acc + sample;
} }
acc = acc / samples; acc = acc / samples;
@@ -119,16 +119,16 @@ void printIMUCalibration() {
} }
void printIMUInfo() { void printIMUInfo() {
IMU.status() ? print("status: ERROR %d\n", IMU.status()) : print("status: OK\n"); imu.status() ? print("status: ERROR %d\n", imu.status()) : print("status: OK\n");
print("model: %s\n", IMU.getModel()); print("model: %s\n", imu.getModel());
print("who am I: 0x%02X\n", IMU.whoAmI()); print("who am I: 0x%02X\n", imu.whoAmI());
print("rate: %.0f\n", loopRate); print("rate: %.0f\n", loopRate);
print("gyro: %f %f %f\n", rates.x, rates.y, rates.z); print("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
print("acc: %f %f %f\n", acc.x, acc.y, acc.z); print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
IMU.waitForData(); imu.waitForData();
Vector rawGyro, rawAcc; Vector rawGyro, rawAcc;
IMU.getGyro(rawGyro.x, rawGyro.y, rawGyro.z); imu.getGyro(rawGyro.x, rawGyro.y, rawGyro.z);
IMU.getAccel(rawAcc.x, rawAcc.y, rawAcc.z); imu.getAccel(rawAcc.x, rawAcc.y, rawAcc.z);
print("raw gyro: %f %f %f\n", rawGyro.x, rawGyro.y, rawGyro.z); print("raw gyro: %f %f %f\n", rawGyro.x, rawGyro.y, rawGyro.z);
print("raw acc: %f %f %f\n", rawAcc.x, rawAcc.y, rawAcc.z); print("raw acc: %f %f %f\n", rawAcc.x, rawAcc.y, rawAcc.z);
} }

8
flix/rc.ino
View File

@@ -6,7 +6,7 @@
#include <SBUS.h> #include <SBUS.h>
#include "util.h" #include "util.h"
SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins SBUS rc(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
uint16_t channels[16]; // raw rc channels uint16_t channels[16]; // raw rc channels
double controlTime; // time of the last controls update double controlTime; // time of the last controls update
@@ -18,12 +18,12 @@ float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel =
void setupRC() { void setupRC() {
print("Setup RC\n"); print("Setup RC\n");
RC.begin(); rc.begin();
} }
bool readRC() { bool readRC() {
if (RC.read()) { if (rc.read()) {
SBUSData data = RC.data(); SBUSData data = rc.data();
for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data
normalizeRC(); normalizeRC();
controlTime = t; controlTime = t;