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Some updates to the docs

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Oleg Kalachev
2026-01-03 12:18:47 +03:00
parent d6e8be0c05
commit a5e3dfcf69
5 changed files with 17 additions and 10 deletions
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docs/firmware.md
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@@ -38,13 +38,13 @@ Utility files:
### Control subsystem
Pilot inputs are interpreted in `interpretControls()`, and then converted to the *control command*, which consists of the following:
Pilot inputs are interpreted in `interpretControls()`, and then converted to the **control command**, which consists of the following:
* `attitudeTarget` *(Quaternion)* — target attitude of the drone.
* `ratesTarget` *(Vector)* — target angular rates, *rad/s*.
* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates , used for yaw rate control in STAB mode, *rad/s*.
* `torqueTarget` *(Vector)* — target torque, range [-1, 1].
* `thrustTarget` *(float)* — collective thrust target, range [0, 1].
* `thrustTarget` *(float)* — collective motor thrust target, range [0, 1].
Control command is handled in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding control target is set to `NAN`.
@@ -62,6 +62,11 @@ print("Test value: %.2f\n", testValue);
In order to add a console command, modify the `doCommand()` function in `cli.ino` file.
> [!IMPORTANT]
> Avoid using delays in in-flight commands, it will **crash** the drone! (The design is one-threaded.)
>
> For on-the-ground commands, use `pause()` function, instead of `delay()`. This function allows to pause in a way that MAVLink connection will continue working.
## Building the firmware
See build instructions in [usage.md](usage.md).