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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 114d2305de
commit c08c89f667
4 changed files with 4 additions and 5 deletions
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2
docs/firmware.md
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@ -13,7 +13,7 @@ The main loop is running at 1000 Hz. All the dataflow is happening through globa
* `rates` *(Vector)* — filtered angular rates, *rad/s*.
* `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
* `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

2
flix/flix.ino
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@ -25,7 +25,7 @@ Vector gyro; // gyroscope data
Vector acc; // accelerometer data, m/s/s
Vector rates; // filtered angular rates, rad/s
Quaternion attitude; // estimated attitude
float motors[4]; // normalized motors thrust in range [-1..1]
float motors[4]; // normalized motors thrust in range [0..1]
void setup() {
Serial.begin(SERIAL_BAUDRATE);

3
flix/imu.ino
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@ -10,9 +10,8 @@
MPU9250 IMU(SPI);
// NOTE: use 'ca' command to calibrate the accelerometer and put the values here
Vector accBias(0, 0, 0);
Vector accBias;
Vector accScale(1, 1, 1);
Vector gyroBias;
void setupIMU() {

2
flix/motors.ino
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@ -49,7 +49,7 @@ bool motorsActive() {
return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
}
void testMotor(uint8_t n) {
void testMotor(int n) {
Serial.printf("Testing motor %d\n", n);
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