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Minor code simplifications

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This commit is contained in:
Oleg Kalachev 2025-04-13 01:42:47 +03:00
parent 253f2fe3dd
commit fe98a5bf97
2 changed files with 9 additions and 33 deletions
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4
flix/mavlink.ino
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@ -47,9 +47,9 @@ void sendMavlink() {
lastFast = t; lastFast = t;
const float zeroQuat[] = {0, 0, 0, 0}; const float zeroQuat[] = {0, 0, 0, 0};
Quaternion attitudeFRD = fluToFrd(attitude); // MAVLink uses FRD coordinate system Quaternion att = fluToFrd(attitude); // MAVLink uses FRD coordinate system
mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat); time, att.w, att.x, att.y, att.z, rates.x, rates.y, rates.z, zeroQuat);
sendMessage(&msg); sendMessage(&msg);
mavlink_msg_rc_channels_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlsTime * 1000, 0, mavlink_msg_rc_channels_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlsTime * 1000, 0,

38
gazebo/models/flix/flix.sdf
View File

@ -1,6 +1,7 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<sdf version="1.5"> <sdf version="1.5">
<model name="flix"> <model name="flix">
<plugin name="flix" filename="libflix.so"/>
<link name="body"> <link name="body">
<inertial> <inertial>
<mass>0.065</mass> <mass>0.065</mass>
@ -23,38 +24,14 @@
<update_rate>1000</update_rate> <update_rate>1000</update_rate>
<imu> <imu>
<angular_velocity> <angular_velocity>
<x> <x><noise type="gaussian"><stddev>0.00174533</stddev></noise></x><!-- 0.1 degrees per second -->
<noise type="gaussian"> <y><noise type="gaussian"><stddev>0.00174533</stddev></noise></y>
<stddev>0.00174533</stddev><!-- 0.1 degrees per second --> <z><noise type="gaussian"><stddev>0.00174533</stddev></noise></z>
</noise>
</x>
<y>
<noise type="gaussian">
<stddev>0.00174533</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<stddev>0.00174533</stddev>
</noise>
</z>
</angular_velocity> </angular_velocity>
<linear_acceleration> <linear_acceleration>
<x> <x><noise type="gaussian"><stddev>0.0784</stddev></noise></x><!-- 8 mg -->
<noise type="gaussian"> <y><noise type="gaussian"><stddev>0.0784</stddev></noise></y>
<stddev>0.0784</stddev><!-- 8 mg --> <z><noise type="gaussian"><stddev>0.0784</stddev></noise></z>
</noise>
</x>
<y>
<noise type="gaussian">
<stddev>0.0784</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<stddev>0.0784</stddev>
</noise>
</z>
</linear_acceleration> </linear_acceleration>
</imu> </imu>
</sensor> </sensor>
@ -90,6 +67,5 @@
<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material> <material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
</visual> </visual>
</link> </link>
<plugin name="flix" filename="libflix.so"/>
</model> </model>
</sdf> </sdf>