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Major update of the articles

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Reflect control subsystem refactoring.
Update dataflow diagram.
Add control subsystem diagram.
Minor updates.
This commit is contained in:
Oleg Kalachev
2025-08-27 00:09:42 +03:00
parent b21e81a68b
commit bf0cdac111
5 changed files with 75 additions and 362 deletions
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6
flix/cli.ino
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@@ -12,7 +12,7 @@ extern const int ACRO, STAB;
extern float loopRate, dt;
extern double t;
extern uint16_t channels[16];
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
extern int mode;
const char* motd =
@@ -118,8 +118,8 @@ void doCommand(String str, bool echo = false) {
for (int i = 0; i < 16; i++) {
print("%u ", channels[i]);
}
print("\nroll: %g pitch: %g yaw: %g throttle: %g armed: %g mode: %g\n",
controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode);
print("\nroll: %g pitch: %g yaw: %g throttle: %g mode: %g\n",
controlRoll, controlPitch, controlYaw, controlThrottle, controlMode);
print("mode: %s\n", getModeName());
} else if (command == "mot") {
print("front-right %g front-left %g rear-right %g rear-left %g\n",