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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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22
flix/control.ino
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@@ -9,6 +9,7 @@
#include "lpf.h"
#include "util.h"
#define ARMED_THRUST 0.1 // thrust to indicate armed state
#define PITCHRATE_P 0.05
#define PITCHRATE_I 0.2
#define PITCHRATE_D 0.001
@@ -54,7 +55,7 @@ Vector torqueTarget;
float thrustTarget;
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
void control() {
interpretControls();
@@ -65,14 +66,14 @@ void control() {
}
void interpretControls() {
armed = controlThrottle >= 0.05;
if (controlArmed < 0.5) armed = false;
// NOTE: put ACRO or MANUAL modes there if you want to use them
if (controlMode < 0.25) mode = STAB;
if (controlMode < 0.75) mode = STAB;
if (controlMode > 0.75) mode = STAB;
if (controlThrottle < 0.05 && controlYaw > 0.95) armed = true; // arm gesture
if (controlThrottle < 0.05 && controlYaw < -0.95) armed = false; // disarm gesture
thrustTarget = controlThrottle;
if (mode == STAB) {
@@ -137,8 +138,17 @@ void controlRates() {
void controlTorque() {
if (!torqueTarget.valid()) return; // skip torque control
if (!armed || thrustTarget < 0.05) {
memset(motors, 0, sizeof(motors)); // stop motors if no thrust
if (!armed) {
memset(motors, 0, sizeof(motors)); // stop motors if disarmed
return;
}
if (thrustTarget < 0.05) {
// minimal thrust to indicate armed state
motors[0] = ARMED_THRUST;
motors[1] = ARMED_THRUST;
motors[2] = ARMED_THRUST;
motors[3] = ARMED_THRUST;
return;
}