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Implement auto mode for automatic flight

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Use arm/disarm gestures
Add arm/disarm commands
Add ratesExtra variable for 
Rename interpretRC to interpretControls
Rename controlRate to controlRates
Remove USER mode
Add invalidate methods for vector and quaternion
Add valid/invalid method for vector and quaternion
Add valid/invalid function
Print armed in rc command
Pass auto mode to heartbeat
Use actuator_control_target for motors
This commit is contained in:
Oleg Kalachev
2025-07-29 18:02:09 +03:00
parent 2066d05a60
commit dfceb8a6b2
9 changed files with 160 additions and 88 deletions
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7
flix/cli.ino
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@@ -12,6 +12,7 @@ extern float loopRate, dt;
extern double t;
extern uint16_t channels[16];
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
extern bool armed;
const char* motd =
"\nWelcome to\n"
@@ -31,6 +32,8 @@ const char* motd =
"ps - show pitch/roll/yaw\n"
"psq - show attitude quaternion\n"
"imu - show IMU data\n"
"arm - arm the drone (when no mode switch)\n"
"disarm - disarm the drone (when no mode switch)\n"
"rc - show RC data\n"
"mot - show motor output\n"
"log - dump in-RAM log\n"
@@ -109,6 +112,10 @@ void doCommand(String str, bool echo = false) {
printIMUCalibration();
print("rate: %.0f\n", loopRate);
print("landed: %d\n", landed);
} else if (command == "arm") {
armed = true;
} else if (command == "disarm") {
armed = false;
} else if (command == "rc") {
print("channels: ");
for (int i = 0; i < 16; i++) {