37 Commits

Author	SHA1	Message	Date
Oleg Kalachev	f2aae92f1e	Cleanups and updates	2025-02-28 23:58:31 +03:00
Oleg Kalachev	6058e8ecab	Refactor CLI submodule ... Move command parsing to doCommand Parse command with splitString instead of stringToken Trim commands Move cliTestMotor to the bottom Rename parseInput to handleInput, which is more clear Move motor test function to motors.ino Remove parameters table functionality to simplify the code	2025-02-28 22:49:37 +03:00
Oleg Kalachev	f9e1802bc0	Make util module header instead of .ino-file	2025-01-10 07:02:00 +03:00
Oleg Kalachev	8c9bff0813	Make motor indexes definition const int and move them to motors.ino ... Remove motor indexes definitions from flix.ino Add motors.ino to simulation code and implement required mocks	2025-01-09 11:17:44 +03:00
Oleg Kalachev	9a977e85c8	Implement rotate method for quaternions as replace for multiplication ... Vector rotating method is renamed from `rotate` to `rotateVector` to avoid inconsistent object and argument order in different `rotate` methods	2025-01-09 10:00:16 +03:00
Oleg Kalachev	ec832d4e37	Implement RC fail-safe	2024-11-04 11:51:17 +03:00
Oleg Kalachev	abcc9b96de	Use FLU as the main coordinate system instead of FRD ... Corresponding to the IMU orientation in the new version	2024-10-23 09:30:49 +03:00
Oleg Kalachev	84a329cca7	More clean yaw error calculation	2024-10-23 09:25:07 +03:00
Oleg Kalachev	7cfcf5b63b	Use more natural torqueTarget order in mixer (xyz)	2024-05-21 10:52:39 +03:00
Oleg Kalachev	ad6bc02643	Minor fixes and changes	2024-05-21 10:49:57 +03:00
Oleg Kalachev	41a9a95747	Transfer gyro low pass filter to estimate.ino ... Separate raw gyro data and filtered rates to different variables	2024-04-20 14:52:01 +03:00
Oleg Kalachev	ab2f99ab59	Simplify making user modes for control, add USER mode	2024-02-22 03:09:12 +03:00
Oleg Kalachev	5ec6b5e665	Make fromEulerZYX accept Vector instead of x, y, z	2024-02-20 04:51:59 +03:00
Oleg Kalachev	33319db1fa	Make rates LPF cut-off frequency equal to 40 Hz	2024-02-07 10:49:31 +03:00
Oleg Kalachev	ed6d09061b	Rename RC_CHANNEL_AUX to RC_CHANNEL_ARMED	2024-01-19 05:19:41 +03:00
Oleg Kalachev	26a028ff66	Use only STAB mode by default	2024-01-19 05:16:44 +03:00
Oleg Kalachev	f4aaf0f4f3	Use radians macro, minor change	2024-01-12 00:43:52 +03:00
Oleg Kalachev	476f24f774	Clarify rates control code	2024-01-06 00:08:30 +03:00
Oleg Kalachev	d2296fea76	Change C++ code style: put curly brace on the same line	2023-12-29 18:56:25 +03:00
Oleg Kalachev	fde9c1cf36	Minor changes and cleanups	2023-12-19 05:25:57 +03:00
Oleg Kalachev	a9bcec2fa5	Main sdf cleanups, minor fix	2023-12-15 09:43:54 +03:00
Oleg Kalachev	2c21114540	Refactor control, remake controlManual to controlTorque	2023-12-13 08:33:35 +03:00
Oleg Kalachev	4fcf2109ce	Simplify code using angularRatesBetweenVectors	2023-12-13 08:25:11 +03:00
Oleg Kalachev	24b62e5145	Move controlManual down	2023-12-13 08:06:15 +03:00
Oleg Kalachev	f37015a97f	Temporary remove controlManual to paste it bellow	2023-12-13 08:05:44 +03:00
Oleg Kalachev	cb27e0f61f	Cleanups	2023-12-13 07:59:08 +03:00
Oleg Kalachev	46579ce8a4	Better code for yaw target	2023-12-13 07:49:57 +03:00
Oleg Kalachev	dbd413c234	Minor code cleanups and fixes	2023-11-12 10:51:56 +03:00
Oleg Kalachev	6dae4abaa2	Print low pass filters parameters and current mode in cli	2023-11-11 06:21:06 +03:00
Oleg Kalachev	7cabdc5e62	Implement low pass filter in separate module	2023-11-11 06:19:51 +03:00
Oleg Kalachev	8df71b078d	Cleanups and minor changes	2023-11-11 06:17:50 +03:00
Oleg Kalachev	b1dae8c33d	Minor cleanup	2023-05-31 23:51:28 +03:00
Oleg Kalachev	39875cafb9	Remove non-effective statics	2023-05-31 20:12:45 +03:00
Oleg Kalachev	147eef0af7	Cleanups	2023-05-25 11:42:13 +03:00
Oleg Kalachev	d6cca7dcf7	Some unification of the headers	2023-05-24 11:26:30 +03:00
Oleg Kalachev	87c75842f9	Change .hpp to .h	2023-05-24 10:40:12 +03:00
Oleg Kalachev	e039055c8e	Initial commit	2023-03-26 10:23:30 +03:00