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Minor code updates

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This commit is contained in:
Oleg Kalachev
2025-05-15 09:22:17 +03:00
parent 7e5a75a01f
commit 9c8c0e2578
4 changed files with 4 additions and 4 deletions
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2
flix/flix.ino
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@@ -19,7 +19,7 @@ Vector acc; // accelerometer data, m/s/s
Vector rates; // filtered angular rates, rad/s
Quaternion attitude; // estimated attitude
bool landed; // are we landed and stationary
float motors[4]; // normalized motors thrust in range [-1..1]
float motors[4]; // normalized motors thrust in range [0..1]
void setup() {
Serial.begin(SERIAL_BAUDRATE);

2
flix/imu.ino
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@@ -11,8 +11,8 @@
MPU9250 IMU(SPI);
Vector accBias;
Vector gyroBias;
Vector accScale(1, 1, 1);
Vector gyroBias;
void setupIMU() {
print("Setup IMU\n");

2
flix/motors.ino
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@@ -55,7 +55,7 @@ bool motorsActive() {
return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
}
void testMotor(uint8_t n) {
void testMotor(int n) {
print("Testing motor %d\n", n);
motors[n] = 1;
delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306