aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2026-01-12 22:17:45 +00:00
Code Issues Packages Projects Releases Wiki Activity

Refactor arming logic

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

10
flix/mavlink.ino
View File

@@ -12,11 +12,10 @@
#define PERIOD_FAST 0.1
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
float mavlinkControlScale = 0.7;
String mavlinkPrintBuffer;
extern double controlTime;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
void processMavlink() {
sendMavlink();
@@ -99,11 +98,10 @@ void handleMavlink(const void *_msg) {
if (m.target && m.target != SYSTEM_ID) return; // 0 is broadcast
controlThrottle = m.z / 1000.0f;
controlPitch = m.x / 1000.0f * mavlinkControlScale;
controlRoll = m.y / 1000.0f * mavlinkControlScale;
controlYaw = m.r / 1000.0f * mavlinkControlScale;
controlPitch = m.x / 1000.0f;
controlRoll = m.y / 1000.0f;
controlYaw = m.r / 1000.0f;
controlMode = NAN;
controlArmed = NAN;
controlTime = t;
if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0;