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48 lines
857 B
Arduino
48 lines
857 B
Arduino
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// Main firmware file
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#include "vector.h"
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#include "quaternion.h"
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#include "util.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 gyro, acc;
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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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void setup() {
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Serial.begin(115200);
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print("Initializing Flix\n");
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setupParameters();
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setupPower();
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setupLED();
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setLED(true);
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setupMotors();
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setupWiFi();
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setupIMU();
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setupRC();
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setupEstimate();
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setupLog();
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setLED(false);
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print("Initializing complete\n");
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}
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void loop() {
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readIMU();
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step();
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readRC();
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estimate();
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control();
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sendMotors();
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handleInput();
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processMavlink();
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readVoltage();
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loopLog();
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syncParameters();
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}
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