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Refactor arming logic

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Arm and disarm with gestures only: left stick right/down for arming, left/down for disarming.
Remove arming switch as it complicates arming gestures logic.
Remove MAV_CTRL_SCALE parameter as it complicates arming gestures logic, advise to decrease TILT_MAX when controlling with a smartphone.
Put some minimal thrust to motors to indicate armed state.
Rename build article to usage article, add flight instructions.
This commit is contained in:
Oleg Kalachev
2025-08-27 03:19:26 +03:00
parent beb655fdcb
commit c1788e2c75
17 changed files with 451 additions and 245 deletions
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flix/cli.ino
+8
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@@ -14,6 +14,7 @@ extern double t;
extern uint16_t channels[16];
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
extern int mode;
extern bool armed;
const char* motd =
"\nWelcome to\n"
@@ -33,6 +34,8 @@ const char* motd =
"ps - show pitch/roll/yaw\n"
"psq - show attitude quaternion\n"
"imu - show IMU data\n"
"arm - arm the drone\n"
"disarm - disarm the drone\n"
"stab / acro - set mode\n"
"rc - show RC data\n"
"mot - show motor output\n"
@@ -109,6 +112,10 @@ void doCommand(String str, bool echo = false) {
printIMUInfo();
printIMUCalibration();
print("landed: %d\n", landed);
} else if (command == "arm") {
armed = true;
} else if (command == "disarm") {
armed = false;
} else if (command == "stab") {
mode = STAB;
} else if (command == "acro") {
@@ -121,6 +128,7 @@ void doCommand(String str, bool echo = false) {
print("\nroll: %g pitch: %g yaw: %g throttle: %g mode: %g\n",
controlRoll, controlPitch, controlYaw, controlThrottle, controlMode);
print("mode: %s\n", getModeName());
print("armed: %d\n", armed);
} else if (command == "mot") {
print("front-right %g front-left %g rear-right %g rear-left %g\n",
motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);