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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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3
gazebo/flix.h
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@@ -16,7 +16,7 @@ double t = NAN;
float dt;
float motors[4];
float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
float controlArmed = NAN, controlMode = NAN;
float controlMode = NAN;
Vector acc;
Vector gyro;
Vector rates;
@@ -55,7 +55,6 @@ void mavlinkPrint(const char* str);
void sendMavlinkPrint();
inline Quaternion fluToFrd(const Quaternion &q);
void failsafe();
void armingFailsafe();
void rcLossFailsafe();
void descend();
int parametersCount();