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Refactor control subsystem

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Add interpretControls function to convert pilot commands and mode into control targets and make control functions independent from the mode.
Add ratesExtra target for rates feed-forward; remove yawMode.
Rename controlRate to controlRates to reflect rates variable name.
Remove USER mode.
This commit is contained in:
Oleg Kalachev
2025-08-26 01:00:56 +03:00
parent a1539157b8
commit 8418723ccc
8 changed files with 88 additions and 62 deletions
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flix/flix.ino
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@@ -12,7 +12,8 @@
double t = NAN; // current step time, s
float dt; // time delta from previous step, s
float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode; // pilot's inputs, range [-1, 1]
float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
float controlArmed = NAN, controlMode = NAN;
Vector gyro; // gyroscope data
Vector acc; // accelerometer data, m/s/s
Vector rates; // filtered angular rates, rad/s