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Re-arrange control.ino declarations to make a bit more sensible

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So the control command is above the PID controllers.
This commit is contained in:
Oleg Kalachev
2026-01-13 17:43:53 +03:00
parent 7e24ee30f7
commit 28f5855a57
1 changed files with 6 additions and 6 deletions
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12
flix/control.ino
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@@ -38,6 +38,12 @@ const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
int mode = STAB; int mode = STAB;
bool armed = false; bool armed = false;
Quaternion attitudeTarget;
Vector ratesTarget;
Vector ratesExtra; // feedforward rates
Vector torqueTarget;
float thrustTarget;
PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA); PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA);
PID pitchRatePID(PITCHRATE_P, PITCHRATE_I, PITCHRATE_D, PITCHRATE_I_LIM, RATES_D_LPF_ALPHA); PID pitchRatePID(PITCHRATE_P, PITCHRATE_I, PITCHRATE_D, PITCHRATE_I_LIM, RATES_D_LPF_ALPHA);
PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D); PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D);
@@ -47,12 +53,6 @@ PID yawPID(YAW_P, 0, 0);
Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX); Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX);
float tiltMax = TILT_MAX; float tiltMax = TILT_MAX;
Quaternion attitudeTarget;
Vector ratesTarget;
Vector ratesExtra; // feedforward rates
Vector torqueTarget;
float thrustTarget;
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;