From f4aaf0f4f33c62628d4e14b3f2ab4b9cb05b858e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 12 Jan 2024 00:43:52 +0300 Subject: [PATCH] Use radians macro, minor change --- flix/control.ino | 8 ++++---- flix/estimate.ino | 2 +- flix/flix.ino | 4 ++-- gazebo/Arduino.h | 2 ++ 4 files changed, 9 insertions(+), 7 deletions(-) diff --git a/flix/control.ino b/flix/control.ino index bd145a2..f6625a3 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -27,10 +27,10 @@ #define PITCH_I ROLL_I #define PITCH_D ROLL_D #define YAW_P 3 -#define PITCHRATE_MAX 360 * DEG_TO_RAD -#define ROLLRATE_MAX 360 * DEG_TO_RAD -#define YAWRATE_MAX 360 * DEG_TO_RAD -#define MAX_TILT 30 * DEG_TO_RAD +#define PITCHRATE_MAX radians(360) +#define ROLLRATE_MAX radians(360) +#define YAWRATE_MAX radians(360) +#define MAX_TILT radians(30) #define RATES_LFP_ALPHA 0.8 // cutoff frequency ~ 250 Hz #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz diff --git a/flix/estimate.ino b/flix/estimate.ino index a0cc385..598a1ec 100644 --- a/flix/estimate.ino +++ b/flix/estimate.ino @@ -39,5 +39,5 @@ void applyAcc() { void signalizeHorizontality() { float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, -1)), Vector(0, 0, -1)); - setLED(angle < 15 * DEG_TO_RAD); + setLED(angle < radians(15)); } diff --git a/flix/flix.ino b/flix/flix.ino index d03cb25..18d68a9 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -11,10 +11,10 @@ #define WIFI_ENABLED 0 #define RC_CHANNELS 6 +#define RC_CHANNEL_ROLL 0 +#define RC_CHANNEL_PITCH 1 #define RC_CHANNEL_THROTTLE 2 #define RC_CHANNEL_YAW 3 -#define RC_CHANNEL_PITCH 1 -#define RC_CHANNEL_ROLL 0 #define RC_CHANNEL_AUX 4 #define RC_CHANNEL_MODE 5 diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h index a2300f5..9d35e6d 100644 --- a/gazebo/Arduino.h +++ b/gazebo/Arduino.h @@ -14,6 +14,8 @@ #define PI 3.1415926535897932384626433832795 #define DEG_TO_RAD 0.017453292519943295769236907684886 #define RAD_TO_DEG 57.295779513082320876798154814105 +#define radians(deg) ((deg)*DEG_TO_RAD) +#define degrees(rad) ((rad)*RAD_TO_DEG) #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))