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Minor fixes and changes

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This commit is contained in:
Oleg Kalachev 2024-05-21 10:49:57 +03:00
parent b91f4d3b6d
commit ad6bc02643
5 changed files with 7 additions and 5 deletions
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2
.gitignore vendored
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@ -1,5 +1,5 @@
*.hex
*.elf
gazebo/build/
build/
tools/log/
.dependencies

4
README.md
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@ -57,8 +57,8 @@ You can also check a user contributed [variant of complete circuit diagram](http
||~~SBUS inverter~~*|<img src="docs/img/inv.jpg" width=100>|~~1~~|
|3.7 Li-Po 850 MaH 60C|Battery|||
||Battery charger|<img src="docs/img/charger.jpg" width=100>|1|
||Wires, connectors, tape, ...||
||3D-printed frame parts||
||Wires, connectors, tape, ...|||
||3D-printed frame parts|||
*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*

1
flix/control.ino
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@ -169,6 +169,7 @@ const char* getModeName() {
case MANUAL: return "MANUAL";
case ACRO: return "ACRO";
case STAB: return "STAB";
case USER: return "USER";
default: return "UNKNOWN";
}
}

1
flix/quaternion.h
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@ -167,6 +167,7 @@ public:
return Vector(res.x, res.y, res.z);
}
// Rotate vector by quaternion
inline Vector rotate(const Vector& v) {
return conjugateInversed(v);
}

4
gazebo/joystick.h
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@ -8,8 +8,8 @@
#include <iostream>
// simulation calibration overrides, NOTE: use `cr` command and replace with the actual values
const int channelNeutralOverride[] = {-258, -258, -27349, 0, 5417, 0};
const int channelMaxOverride[] = {27090, 27090, 27090, 27090, 27090, 1};
const int channelNeutralOverride[] = {-258, -258, -27349, 0, -27349, 0};
const int channelMaxOverride[] = {27090, 27090, 27090, 27090, -5676, 1};
#define RC_CHANNEL_ROLL 0
#define RC_CHANNEL_PITCH 1