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Fixed

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This commit is contained in:
Oleg Kalachev
2025-07-29 18:22:38 +03:00
parent 3bbace6a1e
commit fc4feb8503
2 changed files with 8 additions and 1 deletions
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1
flix/failsafe.ino
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@@ -29,7 +29,6 @@ void autoFailsafe() {
if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) { if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) {
if (mode == AUTO && !isfinite(controlMode)) { if (mode == AUTO && !isfinite(controlMode)) {
print("Failsafe: regain control to pilot\n");
mode = STAB; // regain control to the pilot mode = STAB; // regain control to the pilot
} }
} }

8
flix/util.h
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@@ -19,6 +19,14 @@ float mapff(float x, float in_min, float in_max, float out_min, float out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
} }
bool invalid(float x) {
return !isfinite(x);
}
bool valid(float x) {
return isfinite(x);
}
// Wrap angle to [-PI, PI) // Wrap angle to [-PI, PI)
float wrapAngle(float angle) { float wrapAngle(float angle) {
angle = fmodf(angle, 2 * PI); angle = fmodf(angle, 2 * PI);