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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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4
docs/usage.md
View File

@@ -211,9 +211,9 @@ The default mode is *STAB*. In this mode, the drone stabilizes its attitude (ori
In this mode, the pilot controls the angular rates. This control method is difficult to fly and mostly used in FPV racing. In this mode, the pilot controls the angular rates. This control method is difficult to fly and mostly used in FPV racing.
#### MANUAL #### RAW
Manual mode disables all the stabilization, and the pilot inputs are passed directly to the motors. This mode is intended for testing and demonstration purposes only, and basically the drone **cannot fly in this mode**. *RAW* mode disables all the stabilization, and the pilot inputs are mixed directly to the motors. The IMU sensor is not involved. This mode is intended for testing and demonstration purposes only, and basically the drone **cannot fly in this mode**.
#### AUTO #### AUTO

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

9
flix/control.ino
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@@ -34,7 +34,7 @@
#define TILT_MAX radians(30) #define TILT_MAX radians(30)
#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz #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; int mode = STAB;
bool armed = false; bool armed = false;
@@ -65,7 +65,6 @@ void control() {
} }
void interpretControls() { void interpretControls() {
// NOTE: put ACRO or MANUAL modes there if you want to use them
if (controlMode < 0.25) mode = STAB; if (controlMode < 0.25) mode = STAB;
if (controlMode < 0.75) mode = STAB; if (controlMode < 0.75) 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 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 attitudeTarget.invalidate(); // skip attitude control
ratesTarget.invalidate(); // skip rate 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() { const char* getModeName() {
switch (mode) { switch (mode) {
case MANUAL: return "MANUAL"; case RAW: return "RAW";
case ACRO: return "ACRO"; case ACRO: return "ACRO";
case STAB: return "STAB"; case STAB: return "STAB";
case AUTO: return "AUTO"; case AUTO: return "AUTO";

2
tools/pyflix/flix.py
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@@ -40,7 +40,7 @@ class Flix:
_connection_timeout = 3 _connection_timeout = 3
_print_buffer: str = '' _print_buffer: str = ''
_modes = ['MANUAL', 'ACRO', 'STAB', 'AUTO'] _modes = ['RAW', 'ACRO', 'STAB', 'AUTO']
def __init__(self, system_id: int=1, wait_connection: bool=True): def __init__(self, system_id: int=1, wait_connection: bool=True):
if not (0 <= system_id < 256): if not (0 <= system_id < 256):

2
tools/pyproject.toml
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@@ -1,6 +1,6 @@
[project] [project]
name = "pyflix" name = "pyflix"
version = "0.10" version = "0.11"
description = "Python API for Flix drone" description = "Python API for Flix drone"
authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
license = "MIT" license = "MIT"