From ad6bc02643749ded136a04970b97d451b4d02e9f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 21 May 2024 10:49:57 +0300 Subject: [PATCH] Minor fixes and changes --- .gitignore | 2 +- README.md | 4 ++-- flix/control.ino | 1 + flix/quaternion.h | 1 + gazebo/joystick.h | 4 ++-- 5 files changed, 7 insertions(+), 5 deletions(-) diff --git a/.gitignore b/.gitignore index 0ee1924..f7a56be 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,5 @@ *.hex *.elf -gazebo/build/ +build/ tools/log/ .dependencies diff --git a/README.md b/README.md index 27f0045..1318881 100644 --- a/README.md +++ b/README.md @@ -57,8 +57,8 @@ You can also check a user contributed [variant of complete circuit diagram](http ||~~SBUS inverter~~*||~~1~~| |3.7 Li-Po 850 MaH 60C|Battery||| ||Battery charger||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).* diff --git a/flix/control.ino b/flix/control.ino index dc524bf..2d18175 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -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"; } } diff --git a/flix/quaternion.h b/flix/quaternion.h index 07d8504..c644156 100644 --- a/flix/quaternion.h +++ b/flix/quaternion.h @@ -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); } diff --git a/gazebo/joystick.h b/gazebo/joystick.h index 6cf9ce4..5294d77 100644 --- a/gazebo/joystick.h +++ b/gazebo/joystick.h @@ -8,8 +8,8 @@ #include // 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