mirror of
https://github.com/okalachev/flix.git
synced 2026-01-10 21:16:50 +00:00
2e7330d2f5
Use MAVLink LOG_REQUEST_DATA and LOG_DATA for download log instead of console. Make Wi-Fi download default way of downloading the log. Make `log` command only print the header and `log dump` dump the log.
77 lines
1.9 KiB
C++
77 lines
1.9 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
|
|
// Repository: https://github.com/okalachev/flix
|
|
|
|
// Declarations of some functions and variables in Arduino code
|
|
|
|
#include <cmath>
|
|
#include <stdio.h>
|
|
#include "vector.h"
|
|
#include "quaternion.h"
|
|
#include "Arduino.h"
|
|
#include "wifi.h"
|
|
|
|
#define WIFI_ENABLED 1
|
|
|
|
float t = NAN;
|
|
float dt;
|
|
float motors[4];
|
|
float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
|
|
float controlMode = NAN;
|
|
Vector acc;
|
|
Vector gyro;
|
|
Vector rates;
|
|
Quaternion attitude;
|
|
bool landed;
|
|
|
|
// declarations
|
|
void step();
|
|
void computeLoopRate();
|
|
void applyGyro();
|
|
void applyAcc();
|
|
void control();
|
|
void interpretControls();
|
|
void controlAttitude();
|
|
void controlRates();
|
|
void controlTorque();
|
|
const char* getModeName();
|
|
void sendMotors();
|
|
bool motorsActive();
|
|
void testMotor(int n);
|
|
void print(const char* format, ...);
|
|
void pause(float duration);
|
|
void doCommand(String str, bool echo);
|
|
void handleInput();
|
|
void normalizeRC();
|
|
void calibrateRC();
|
|
void calibrateRCChannel(float *channel, uint16_t zero[16], uint16_t max[16], const char *str);
|
|
void printRCCalibration();
|
|
void printLogHeader();
|
|
void printLogData();
|
|
void processMavlink();
|
|
void sendMavlink();
|
|
void sendMessage(const void *msg);
|
|
void receiveMavlink();
|
|
void handleMavlink(const void *_msg);
|
|
void mavlinkPrint(const char* str);
|
|
void sendMavlinkPrint();
|
|
inline Quaternion fluToFrd(const Quaternion &q);
|
|
void failsafe();
|
|
void rcLossFailsafe();
|
|
void descend();
|
|
void autoFailsafe();
|
|
int parametersCount();
|
|
const char *getParameterName(int index);
|
|
float getParameter(int index);
|
|
float getParameter(const char *name);
|
|
bool setParameter(const char *name, const float value);
|
|
void printParameters();
|
|
void resetParameters();
|
|
|
|
// mocks
|
|
void setLED(bool on) {};
|
|
void calibrateGyro() { print("Skip gyro calibrating\n"); };
|
|
void calibrateAccel() { print("Skip accel calibrating\n"); };
|
|
void printIMUCalibration() { print("cal: N/A\n"); };
|
|
void printIMUInfo() {};
|
|
Vector accBias, gyroBias, accScale(1, 1, 1);
|