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Group control parameters

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Also add IMU group to accelerometer calibration parameters.
This commit is contained in:
Oleg Kalachev
2025-11-19 01:30:02 +03:00
parent 1551d096fc
commit 3104410bb9
2 changed files with 30 additions and 30 deletions
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2
docs/usage.md
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@@ -153,7 +153,7 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
6. Use the virtual joystick to fly the drone!
> [!TIP]
> Decrease `TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
> Decrease `CNT_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
### Control with remote control

58
flix/parameters.ino
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@@ -13,42 +13,42 @@ extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChanne
Preferences storage;
struct Parameter {
const char *name; // max length is 16
const char *name; // max length is 15 (Preferences key limit)
float *variable;
float value; // cache
};
Parameter parameters[] = {
// control
{"ROLLRATE_P", &rollRatePID.p},
{"ROLLRATE_I", &rollRatePID.i},
{"ROLLRATE_D", &rollRatePID.d},
{"ROLLRATE_I_LIM", &rollRatePID.windup},
{"PITCHRATE_P", &pitchRatePID.p},
{"PITCHRATE_I", &pitchRatePID.i},
{"PITCHRATE_D", &pitchRatePID.d},
{"PITCHRATE_I_LIM", &pitchRatePID.windup},
{"YAWRATE_P", &yawRatePID.p},
{"YAWRATE_I", &yawRatePID.i},
{"YAWRATE_D", &yawRatePID.d},
{"ROLL_P", &rollPID.p},
{"ROLL_I", &rollPID.i},
{"ROLL_D", &rollPID.d},
{"PITCH_P", &pitchPID.p},
{"PITCH_I", &pitchPID.i},
{"PITCH_D", &pitchPID.d},
{"YAW_P", &yawPID.p},
{"PITCHRATE_MAX", &maxRate.y},
{"ROLLRATE_MAX", &maxRate.x},
{"YAWRATE_MAX", &maxRate.z},
{"TILT_MAX", &tiltMax},
{"CTL_R_RATE_P", &rollRatePID.p},
{"CTL_R_RATE_I", &rollRatePID.i},
{"CTL_R_RATE_D", &rollRatePID.d},
{"CTL_R_RATE_WU", &rollRatePID.windup},
{"CTL_P_RATE_P", &pitchRatePID.p},
{"CTL_P_RATE_I", &pitchRatePID.i},
{"CTL_P_RATE_D", &pitchRatePID.d},
{"CTL_P_RATE_WU", &pitchRatePID.windup},
{"CTL_Y_RATE_P", &yawRatePID.p},
{"CTL_Y_RATE_I", &yawRatePID.i},
{"CTL_Y_RATE_D", &yawRatePID.d},
{"CTL_R_P", &rollPID.p},
{"CTL_R_I", &rollPID.i},
{"CTL_R_D", &rollPID.d},
{"CTL_P_P", &pitchPID.p},
{"CTL_P_I", &pitchPID.i},
{"CTL_P_D", &pitchPID.d},
{"CTL_Y_P", &yawPID.p},
{"CTL_P_RATE_MAX", &maxRate.y},
{"CTL_R_RATE_MAX", &maxRate.x},
{"CTL_Y_RATE_MAX", &maxRate.z},
{"CTL_TILT_MAX", &tiltMax},
// imu
{"ACC_BIAS_X", &accBias.x},
{"ACC_BIAS_Y", &accBias.y},
{"ACC_BIAS_Z", &accBias.z},
{"ACC_SCALE_X", &accScale.x},
{"ACC_SCALE_Y", &accScale.y},
{"ACC_SCALE_Z", &accScale.z},
{"IMU_ACC_BIAS_X", &accBias.x},
{"IMU_ACC_BIAS_Y", &accBias.y},
{"IMU_ACC_BIAS_Z", &accBias.z},
{"IMU_ACC_SCALE_X", &accScale.x},
{"IMU_ACC_SCALE_Y", &accScale.y},
{"IMU_ACC_SCALE_Z", &accScale.z},
// rc
{"RC_ZERO_0", &channelZero[0]},
{"RC_ZERO_1", &channelZero[1]},