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Use radians macro, minor change

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This commit is contained in:
Oleg Kalachev 2024-01-12 00:43:52 +03:00
parent 1ed05a94dd
commit f4aaf0f4f3
4 changed files with 9 additions and 7 deletions
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8
flix/control.ino
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@ -27,10 +27,10 @@
#define PITCH_I ROLL_I #define PITCH_I ROLL_I
#define PITCH_D ROLL_D #define PITCH_D ROLL_D
#define YAW_P 3 #define YAW_P 3
#define PITCHRATE_MAX 360 * DEG_TO_RAD #define PITCHRATE_MAX radians(360)
#define ROLLRATE_MAX 360 * DEG_TO_RAD #define ROLLRATE_MAX radians(360)
#define YAWRATE_MAX 360 * DEG_TO_RAD #define YAWRATE_MAX radians(360)
#define MAX_TILT 30 * DEG_TO_RAD #define MAX_TILT radians(30)
#define RATES_LFP_ALPHA 0.8 // cutoff frequency ~ 250 Hz #define RATES_LFP_ALPHA 0.8 // cutoff frequency ~ 250 Hz
#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz

2
flix/estimate.ino
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@ -39,5 +39,5 @@ void applyAcc() {
void signalizeHorizontality() { void signalizeHorizontality() {
float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, -1)), Vector(0, 0, -1)); float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, -1)), Vector(0, 0, -1));
setLED(angle < 15 * DEG_TO_RAD); setLED(angle < radians(15));
} }

4
flix/flix.ino
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@ -11,10 +11,10 @@
#define WIFI_ENABLED 0 #define WIFI_ENABLED 0
#define RC_CHANNELS 6 #define RC_CHANNELS 6
#define RC_CHANNEL_ROLL 0
#define RC_CHANNEL_PITCH 1
#define RC_CHANNEL_THROTTLE 2 #define RC_CHANNEL_THROTTLE 2
#define RC_CHANNEL_YAW 3 #define RC_CHANNEL_YAW 3
#define RC_CHANNEL_PITCH 1
#define RC_CHANNEL_ROLL 0
#define RC_CHANNEL_AUX 4 #define RC_CHANNEL_AUX 4
#define RC_CHANNEL_MODE 5 #define RC_CHANNEL_MODE 5

2
gazebo/Arduino.h
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@ -14,6 +14,8 @@
#define PI 3.1415926535897932384626433832795 #define PI 3.1415926535897932384626433832795
#define DEG_TO_RAD 0.017453292519943295769236907684886 #define DEG_TO_RAD 0.017453292519943295769236907684886
#define RAD_TO_DEG 57.295779513082320876798154814105 #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))) #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))