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101 lines
2.8 KiB
C++
101 lines
2.8 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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#include "filter.h"
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extern float t, dt;
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extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
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extern Vector rates;
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extern Quaternion attitude;
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extern bool landed;
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extern float motors[4];
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Vector gyro, acc, imuRotation;
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Vector accBias, gyroBias, accScale(1, 1, 1);
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LowPassFilter<Vector> gyroBiasFilter(0);
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int imuModel = 1, imuBus = 0;
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int imuSckPin = 0, imuMisoPin = 0, imuMosiPin = 0, imuCsPin = -1, imuIntPin = -1;
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int imuSdaPin = 0, imuSclPin = 0;
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int rgbPin = -1, rgbNum = 1;
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// declarations
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void step();
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void computeLoopRate();
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void applyGyro();
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void applyAcc();
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void applyLevel();
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void control();
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void interpretControls();
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void controlAttitude();
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void controlRates();
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void controlTorque();
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void desaturate(float& a, float& b, float& c, float& d);
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const char* getModeName();
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void sendMotors();
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int getDutyCycle(float value);
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bool motorsActive();
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void testMotor(int, float);
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void print(const char* format, ...);
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void pause(float duration);
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void doCommand(String str, bool echo);
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void handleInput();
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void setupRC();
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void normalizeRC();
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void calibrateRC();
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void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*);
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void printRCCalibration();
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void loopLog();
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void resetLog();
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void writeLog(const void *data, size_t size);
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void readLog(void *data, size_t position, size_t size);
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bool isTopicUpdated(const uint8_t topic);
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void printLogInfo();
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int estimateLogDuration();
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void printLogHeader();
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void printLogValues(const char *filter);
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void configLogThrottle(const char *name, float throttle);
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void exposeLogValue(const char *name);
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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 mavlinkPrint(const char* str);
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void sendMavlinkPrint();
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inline Quaternion fluToFrd(const Quaternion &q);
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void setupPower();
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void failsafe();
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void rcLossFailsafe();
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void descend();
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void autoFailsafe();
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void tiltFailsafe();
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int parametersCount();
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const char *getParameterName(int index);
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float getParameter(int index);
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float getParameter(const char *name);
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bool setParameter(const char *name, const float value);
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void printParameters(const char *filter);
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void resetParameters();
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// mocks
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void setLED(bool on) {};
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void calibrateAccel() { print("Skip accel calibrating\n"); };
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void printIMUCalibration() { print("cal: N/A\n"); };
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void printIMUInfo() {};
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void printWiFiInfo() {};
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void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); };
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void setWiFiMode(const String& mode) { print("Skip WiFi mode set\n"); };
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class IMU {
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public:
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float getTemp() { return 0; }
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} *imu;
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