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https://github.com/okalachev/flix.git
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149c62568f
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
59 lines
1.3 KiB
C++
59 lines
1.3 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// Declarations of some functions and variables in Arduino code
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#include <cmath>
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#include <stdio.h>
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#include "vector.h"
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#include "quaternion.h"
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#include "Arduino.h"
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#include "wifi.h"
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#define WIFI_ENABLED 1
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double t = NAN;
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float dt;
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float motors[4];
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int16_t channels[16]; // raw rc channels
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float controls[16];
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Vector acc;
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Vector gyro;
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Vector rates;
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Quaternion attitude;
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// declarations
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void computeLoopRate();
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void applyGyro();
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void applyAcc();
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void control();
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void interpretRC();
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void controlAttitude();
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void controlRate();
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void controlTorque();
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void showTable();
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void sendMotors();
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bool motorsActive();
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void doCommand(String str);
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void cliTestMotor(uint8_t n);
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void normalizeRC();
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void printRCCal();
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void processMavlink();
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void sendMavlink();
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void sendMessage(const void *msg);
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void receiveMavlink();
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void handleMavlink(const void *_msg);
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void failsafe();
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void armingFailsafe();
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void rcLossFailsafe();
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void descend();
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inline Quaternion FLU2FRD(const Quaternion &q);
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// mocks
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void setLED(bool on) {};
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void calibrateGyro() { printf("Skip gyro calibrating\n"); };
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void calibrateAccel() { printf("Skip accel calibrating\n"); };
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void printIMUCal() { printf("cal: N/A\n"); };
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void printIMUInfo() {};
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Vector accBias, gyroBias, accScale(1, 1, 1);
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