aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2026-02-18 08:02:36 +00:00
Code Issues Packages Projects Releases Wiki Activity

Move all global variable declarations to the appropriate subsystems

Browse Source 
As it makes the subsystems code easier to understand.
Declare the most used variables in main sketch file as forward declarations.
Make all control input zero by default (except controlMode).
Minor changes.
This commit is contained in:
Oleg Kalachev
2026-01-03 13:28:18 +03:00
parent a5e3dfcf69
commit c8e5e08b03
10 changed files with 42 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
flix/flix.ino
View File

@@ -9,16 +9,13 @@
#define WIFI_ENABLED 1
float t = NAN; // current step time, s
float dt; // time delta from previous step, s
float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
float controlMode = NAN;
Vector gyro; // gyroscope data
Vector acc; // accelerometer data, m/s/s
Vector rates; // filtered angular rates, rad/s
Quaternion attitude; // estimated attitude
bool landed; // are we landed and stationary
float motors[4]; // normalized motors thrust in range [0..1]
extern float t, dt;
extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
extern Vector gyro, acc;
extern Vector rates;
extern Quaternion attitude;
extern bool landed;
extern float motors[4];
void setup() {
Serial.begin(115200);