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Documentation and book updates

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Improve the main list of features.
Use lowercase imu variable for consistency with the firmware code.
Minor fixes.
This commit is contained in:
Oleg Kalachev
2026-01-13 17:26:40 +03:00
parent 2a8faf5759
commit 7e24ee30f7
4 changed files with 31 additions and 33 deletions
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docs/firmware.md
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@@ -42,7 +42,7 @@ Pilot inputs are interpreted in `interpretControls()`, and then converted to the
* `attitudeTarget` *(Quaternion)* — target attitude of the drone.
* `ratesTarget` *(Vector)* — target angular rates, *rad/s*.
* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates , used for yaw rate control in STAB mode, *rad/s*.
* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates, used for yaw rate control in STAB mode, *rad/s*.
* `torqueTarget` *(Vector)* — target torque, range [-1, 1].
* `thrustTarget` *(float)* — collective motor thrust target, range [0, 1].