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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
docs/firmware.md
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@ -15,7 +15,7 @@ The main loop is running at 1000 Hz. All the dataflow is happening through globa
* `rates` *(Vector)* — filtered angular rates, *rad/s*. * `rates` *(Vector)* — filtered angular rates, *rad/s*.
* `attitude` *(Quaternion)* — estimated attitude (orientation) of drone. * `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
* `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range. * `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range.
* `motors` *(float[])* — motor outputs, normalized to [-1, 1] range; reverse rotation is possible. * `motors` *(float[])* — motor outputs, normalized to [0, 1] range; reverse rotation is possible.
## Source files ## Source files

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 Vector rates; // filtered angular rates, rad/s
Quaternion attitude; // estimated attitude Quaternion attitude; // estimated attitude
bool landed; // are we landed and stationary 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() { void setup() {
Serial.begin(SERIAL_BAUDRATE); Serial.begin(SERIAL_BAUDRATE);

2
flix/imu.ino
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@ -11,8 +11,8 @@
MPU9250 IMU(SPI); MPU9250 IMU(SPI);
Vector accBias; Vector accBias;
Vector gyroBias;
Vector accScale(1, 1, 1); Vector accScale(1, 1, 1);
Vector gyroBias;
void setupIMU() { void setupIMU() {
print("Setup IMU\n"); 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; 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); print("Testing motor %d\n", n);
motors[n] = 1; 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 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