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Cleanups and updates

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This commit is contained in:
Oleg Kalachev 2025-02-28 23:58:31 +03:00
parent 0a7ed1039f
commit f2aae92f1e
6 changed files with 10 additions and 12 deletions
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2
flix/cli.ino
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@ -6,8 +6,6 @@
#include "pid.h" #include "pid.h"
#include "vector.h" #include "vector.h"
extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
extern LowPassFilter<Vector> ratesFilter;
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern float loopRate; extern float loopRate;

8
flix/control.ino
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@ -30,8 +30,8 @@
#define YAW_P 3 #define YAW_P 3
#define PITCHRATE_MAX radians(360) #define PITCHRATE_MAX radians(360)
#define ROLLRATE_MAX radians(360) #define ROLLRATE_MAX radians(360)
#define YAWRATE_MAX radians(360) #define YAWRATE_MAX radians(300)
#define MAX_TILT radians(30) #define TILT_MAX radians(30)
#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
@ -92,8 +92,8 @@ void interpretRC() {
yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE; yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE;
attitudeTarget = Quaternion::fromEulerZYX(Vector( attitudeTarget = Quaternion::fromEulerZYX(Vector(
controls[RC_CHANNEL_ROLL] * MAX_TILT, controls[RC_CHANNEL_ROLL] * TILT_MAX,
controls[RC_CHANNEL_PITCH] * MAX_TILT, controls[RC_CHANNEL_PITCH] * TILT_MAX,
attitudeTarget.getYaw())); attitudeTarget.getYaw()));
ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU

3
flix/failsafe.ino
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@ -8,14 +8,15 @@
extern float controlsTime; extern float controlsTime;
// RC loss failsafe
void failsafe() { void failsafe() {
if (t - controlsTime > RC_LOSS_TIMEOUT) { if (t - controlsTime > RC_LOSS_TIMEOUT) {
descend(); descend();
} }
} }
// Smooth descend on RC lost
void descend() { void descend() {
// Smooth descend on RC lost
mode = STAB; mode = STAB;
controls[RC_CHANNEL_ROLL] = 0; controls[RC_CHANNEL_ROLL] = 0;
controls[RC_CHANNEL_PITCH] = 0; controls[RC_CHANNEL_PITCH] = 0;

3
flix/imu.ino
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@ -7,11 +7,12 @@
#include <MPU9250.h> #include <MPU9250.h>
#include "util.h" #include "util.h"
MPU9250 IMU(SPI);
// NOTE: use 'ca' command to calibrate the accelerometer and put the values here // NOTE: use 'ca' command to calibrate the accelerometer and put the values here
Vector accBias(0, 0, 0); Vector accBias(0, 0, 0);
Vector accScale(1, 1, 1); Vector accScale(1, 1, 1);
MPU9250 IMU(SPI);
Vector gyroBias; Vector gyroBias;
void setupIMU() { void setupIMU() {

2
flix/motors.ino
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@ -2,8 +2,6 @@
// Repository: https://github.com/okalachev/flix // Repository: https://github.com/okalachev/flix
// Motors output control using MOSFETs // Motors output control using MOSFETs
// In case of using ESC, use this version of the code: https://gist.github.com/okalachev/8871d3a94b6b6c0a298f41a4edd34c61.
// Motor: 8520 3.7V
#include "util.h" #include "util.h"

4
flix/rc.ino
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@ -36,14 +36,14 @@ void normalizeRC() {
} }
void calibrateRC() { void calibrateRC() {
Serial.println("Calibrate RC: move all sticks to maximum positions in 4 seconds"); Serial.println("Calibrate RC: move all sticks to maximum positions [4 sec]");
Serial.println("··o ··o\n··· ···\n··· ···"); Serial.println("··o ··o\n··· ···\n··· ···");
delay(4000); delay(4000);
while (!readRC()); while (!readRC());
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {
channelMax[i] = channels[i]; channelMax[i] = channels[i];
} }
Serial.println("Calibrate RC: move all sticks to neutral positions in 4 seconds"); Serial.println("Calibrate RC: move all sticks to neutral positions [4 sec]");
Serial.println("··· ···\n··· ·o·\n·o· ···"); Serial.println("··· ···\n··· ·o·\n·o· ···");
delay(4000); delay(4000);
while (!readRC()); while (!readRC());