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Add parameter for configuring gyro bias lpf

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+ reset the filter on `reset` command
This commit is contained in:
Oleg Kalachev
2026-01-24 09:31:32 +03:00
parent 5b654e4d8e
commit 7ad3022798
3 changed files with 6 additions and 2 deletions
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flix/cli.ino
+3
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@@ -6,6 +6,7 @@
#include "pid.h"
#include "vector.h"
#include "util.h"
#include "lpf.h"
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern const int RAW, ACRO, STAB, AUTO;
@@ -14,6 +15,7 @@ extern uint16_t channels[16];
extern float controlTime;
extern int mode;
extern bool armed;
extern LowPassFilter<Vector> gyroBiasFilter;
const char* motd =
"\nWelcome to\n"
@@ -178,6 +180,7 @@ void doCommand(String str, bool echo = false) {
#endif
} else if (command == "reset") {
attitude = Quaternion();
gyroBiasFilter.reset();
} else if (command == "reboot") {
ESP.restart();
} else {