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5bf2e06c5a
In Arduino, ino files are included in alphabetical order. Cleanup unused function declarations in simulation, add missing. Rename flu to frd function to match the code style.
72 lines
1.7 KiB
C++
72 lines
1.7 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 step();
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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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const char* getModeName();
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void sendMotors();
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bool motorsActive();
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void testMotor(uint8_t n);
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void print(const char* format, ...);
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void doCommand(String str, bool echo);
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void handleInput();
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void calibrateRC();
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void normalizeRC();
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void printRCCal();
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void dumpLog();
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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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inline Quaternion fluToFrd(const Quaternion &q);
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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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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();
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void resetParameters();
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// mocks
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void setLED(bool on) {};
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void calibrateGyro() { print("Skip gyro calibrating\n"); };
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void calibrateAccel() { print("Skip accel calibrating\n"); };
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void printIMUCal() { print("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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