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Various minor fixes

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This commit is contained in:
Oleg Kalachev 2024-12-27 21:52:21 +03:00
parent 43be27c43d
commit 299c8a6a02
3 changed files with 6 additions and 7 deletions
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2
docs/book/SUMMARY.md
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@ -12,7 +12,7 @@
* [Моторы]() * [Моторы]()
* [Радиоуправление]() * [Радиоуправление]()
* [Гироскоп](gyro.md) * [Гироскоп](gyro.md)
* [Акселерометр]()s * [Акселерометр]()
* [Оценка состояния]() * [Оценка состояния]()
* [PID-регулятор]() * [PID-регулятор]()
* [Режим ACRO]() * [Режим ACRO]()

4
flix/rc.ino
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@ -32,14 +32,14 @@ void normalizeRC() {
} }
void calibrateRC() { void calibrateRC() {
Serial.println("Calibrate RC: move all sticks to maximum positions within 4 seconds"); Serial.println("Calibrate RC: move all sticks to maximum positions in 4 seconds");
Serial.println("··o ··o\n··· ···\n··· ···"); Serial.println("··o ··o\n··· ···\n··· ···");
delay(4000); delay(4000);
for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated
for (int i = 0; i < RC_CHANNELS; i++) { for (int i = 0; i < RC_CHANNELS; i++) {
channelMax[i] = channels[i]; channelMax[i] = channels[i];
} }
Serial.println("Calibrate RC: move all sticks to neutral positions within 4 seconds"); Serial.println("Calibrate RC: move all sticks to neutral positions in 4 seconds");
Serial.println("··· ···\n··· ·o·\n·o· ···"); Serial.println("··· ···\n··· ·o·\n·o· ···");
delay(4000); delay(4000);
for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated

7
flix/util.ino
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@ -28,12 +28,11 @@ float wrapAngle(float angle) {
template <typename T> template <typename T>
void printArray(T arr[], int size) { void printArray(T arr[], int size) {
Serial.print("{");
for (uint8_t i = 0; i < size; i++) { for (uint8_t i = 0; i < size; i++) {
Serial.print(arr[i]); Serial.printf("%g", static_cast<float>(arr[i]));
if (i < size - 1) Serial.print(", "); if (i < size - 1) Serial.print(" ");
} }
Serial.println("}"); Serial.println();
} }
// Disable reset on low voltage // Disable reset on low voltage