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Rename manual mode to raw mode

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Make it callable from the console.
Increase the coefficient.
Corresponding change in pyflix.
pyflix@0.11.
This commit is contained in:
Oleg Kalachev
2025-11-25 04:44:16 +03:00
parent d757ffa853
commit 4d583185a9
5 changed files with 12 additions and 11 deletions
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6
flix/cli.ino
View File

@@ -8,7 +8,7 @@
#include "util.h"
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern const int ACRO, STAB, AUTO;
extern const int RAW, ACRO, STAB, AUTO;
extern float t, dt, loopRate;
extern uint16_t channels[16];
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
@@ -35,7 +35,7 @@ const char* motd =
"imu - show IMU data\n"
"arm - arm the drone\n"
"disarm - disarm the drone\n"
"stab/acro/auto - set mode\n"
"raw/stab/acro/auto - set mode\n"
"rc - show RC data\n"
"wifi - show Wi-Fi info\n"
"mot - show motor output\n"
@@ -117,6 +117,8 @@ void doCommand(String str, bool echo = false) {
armed = true;
} else if (command == "disarm") {
armed = false;
} else if (command == "raw") {
mode = RAW;
} else if (command == "stab") {
mode = STAB;
} else if (command == "acro") {

9
flix/control.ino
View File

@@ -34,7 +34,7 @@
#define TILT_MAX radians(30)
#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
const int MANUAL = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
int mode = STAB;
bool armed = false;
@@ -65,7 +65,6 @@ void control() {
}
void interpretControls() {
// NOTE: put ACRO or MANUAL modes there if you want to use them
if (controlMode < 0.25) mode = STAB;
if (controlMode < 0.75) mode = STAB;
if (controlMode > 0.75) mode = STAB;
@@ -93,10 +92,10 @@ void interpretControls() {
ratesTarget.z = -controlYaw * maxRate.z; // positive yaw stick means clockwise rotation in FLU
}
if (mode == MANUAL) { // passthrough mode
if (mode == RAW) { // direct torque control
attitudeTarget.invalidate(); // skip attitude control
ratesTarget.invalidate(); // skip rate control
torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.01;
torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.1;
}
}
@@ -157,7 +156,7 @@ void controlTorque() {
const char* getModeName() {
switch (mode) {
case MANUAL: return "MANUAL";
case RAW: return "RAW";
case ACRO: return "ACRO";
case STAB: return "STAB";
case AUTO: return "AUTO";