aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2026-01-11 05:26:53 +00:00
Code Issues Packages Projects Releases Wiki Activity

Refactor control subsystem

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

7
gazebo/flix.h
View File

@@ -15,7 +15,8 @@
double t = NAN;
float dt;
float motors[4];
float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode;
float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
float controlArmed = NAN, controlMode = NAN;
Vector acc;
Vector gyro;
Vector rates;
@@ -28,9 +29,9 @@ void computeLoopRate();
void applyGyro();
void applyAcc();
void control();
void interpretRC();
void interpretControls();
void controlAttitude();
void controlRate();
void controlRates();
void controlTorque();
const char* getModeName();
void sendMotors();