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This commit is contained in:
Oleg Kalachev
2025-07-29 22:04:04 +03:00
parent 8e043555c5
commit 3f269f57be
2 changed files with 5 additions and 3 deletions
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4
flix/control.ino
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@@ -79,7 +79,7 @@ void interpretControls() {
if (mode == STAB) { if (mode == STAB) {
float yawTarget = attitudeTarget.getYaw(); float yawTarget = attitudeTarget.getYaw();
if (invalid(yawTarget) || controlYaw != 0) yawTarget = attitude.getYaw(); // reset yaw target if NAN or yaw rate is set if (invalid(yawTarget) || controlYaw != 0) yawTarget = attitude.getYaw(); // reset yaw target if NAN or pilot commands yaw rate
attitudeTarget = Quaternion::fromEuler(Vector(controlRoll * tiltMax, controlPitch * tiltMax, yawTarget)); attitudeTarget = Quaternion::fromEuler(Vector(controlRoll * tiltMax, controlPitch * tiltMax, yawTarget));
ratesExtra = Vector(0, 0, -controlYaw * maxRate.z); // positive yaw stick means clockwise rotation in FLU ratesExtra = Vector(0, 0, -controlYaw * maxRate.z); // positive yaw stick means clockwise rotation in FLU
} }
@@ -139,7 +139,7 @@ void controlTorque() {
if (!torqueTarget.valid()) return; // skip torque control if (!torqueTarget.valid()) return; // skip torque control
if (!armed || thrustTarget < 0.05) { if (!armed || thrustTarget < 0.05) {
memset(motors, 0, sizeof(motors)); memset(motors, 0, sizeof(motors)); // stop motors if no thrust
return; return;
} }

4
flix/failsafe.ino
View File

@@ -4,6 +4,8 @@
// Fail-safe functions // Fail-safe functions
#define RC_LOSS_TIMEOUT 0.2 #define RC_LOSS_TIMEOUT 0.2
#include "util.h"
#define DESCEND_TIME 3.0 // time to descend from full throttle to zero #define DESCEND_TIME 3.0 // time to descend from full throttle to zero
extern double controlTime; extern double controlTime;
@@ -28,7 +30,7 @@ void autoFailsafe() {
static float roll, pitch, yaw, throttle; static float roll, pitch, yaw, throttle;
if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) { if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) {
if (mode == AUTO && !isfinite(controlMode)) { if (mode == AUTO && invalid(controlMode)) {
mode = STAB; // regain control to the pilot mode = STAB; // regain control to the pilot
} }
} }