From 8df71b078ddc48f47ff8421dd0cf551c7f1a80a4 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sat, 11 Nov 2023 06:17:50 +0300
Subject: [PATCH] Cleanups and minor changes

---
 flix/control.ino | 12 +++++-------
 flix/log.ino     |  4 ++--
 2 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/flix/control.ino b/flix/control.ino
index d0516b1..12f2b15 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -56,13 +56,11 @@ void control()
 	interpretRC();
 	if (mode == STAB) {
 		controlAttitude();
-		// controlAttitudeAlter();
-	}
-
-	if (mode == MANUAL) {
-		controlManual();
-	} else {
 		controlRate();
+	} else if (mode == ACRO) {
+		controlRate();
+	} else if (mode == MANUAL) {
+		controlManual();
 	}
 }
 
@@ -77,7 +75,7 @@ void interpretRC()
 		mode = STAB;
 	}
 
-	armed = controls[RC_CHANNEL_THROTTLE] >= 0.1 && controls[RC_CHANNEL_AUX] >= 0.5;
+	armed = controls[RC_CHANNEL_THROTTLE] >= 0.05 && controls[RC_CHANNEL_AUX] >= 0.5;
 
 	controlYaw = armed && mode == STAB && controls[RC_CHANNEL_YAW] == 0;
 	if (!controlYaw) {
diff --git a/flix/log.ino b/flix/log.ino
index d9633b2..06bd5fd 100644
--- a/flix/log.ino
+++ b/flix/log.ino
@@ -43,8 +43,8 @@ void logData()
 
 void dumpLog()
 {
-	Serial.printf("timestamp,rate.x,rate.y,rate.z,target.rate.x,target.rate.y,target.rate.z,"
-		"attitude.x,attitude.y,attitude.z,target.attitude.x,target.attitude.y,target.attitude.z,thrust\n");
+	Serial.printf("t,rate.x,rate.y,rate.z,ratesTarget.x,ratesTarget.y,ratesTarget.z,"
+		"attitude.x,attitude.y,attitude.z,attitudeTarget.x,attitudeTarget.y,attitudeTarget.z,thrustTarget\n");
 	for (int i = 0; i < LOG_SIZE; i++) {
 		for (int j = 0; j < LOG_COLUMNS - 1; j++) {
 			Serial.printf("%f,", logBuffer[i][j]);