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ae349fb73c
* Unified parameters storage. * Store parameters in flash on the hardware. * Store parameters in text file in simulation. * Work with parameters in command line. * Support parameters in MAVLink for working with parameters in QGC.
72 lines
1.5 KiB
C++
72 lines
1.5 KiB
C++
// 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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#define SERIAL_BAUDRATE 115200
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#define WIFI_ENABLED 1
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#define RC_CHANNELS 16
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#define RC_CHANNEL_ROLL 0
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#define RC_CHANNEL_PITCH 1
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#define RC_CHANNEL_THROTTLE 2
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#define RC_CHANNEL_YAW 3
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#define RC_CHANNEL_ARMED 4
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#define RC_CHANNEL_MODE 5
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#define MOTOR_REAR_LEFT 0
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#define MOTOR_REAR_RIGHT 1
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#define MOTOR_FRONT_RIGHT 2
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#define MOTOR_FRONT_LEFT 3
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#define ONE_G 9.80665
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float t = NAN; // current step time, s
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float dt; // time delta from previous step, s
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float loopRate; // loop rate, Hz
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int16_t channels[RC_CHANNELS]; // raw rc channels
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float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
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float controlsTime; // time of the last controls update
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Vector gyro; // gyroscope data
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Vector acc; // accelerometer data, m/s/s
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Vector rates; // filtered angular rates, rad/s
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Quaternion attitude; // estimated attitude
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float motors[4]; // normalized motors thrust in range [-1..1]
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void setup() {
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Serial.begin(SERIAL_BAUDRATE);
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Serial.println("Initializing flix");
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disableBrownOut();
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setupParameters();
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setupLED();
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setupMotors();
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setLED(true);
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#if WIFI_ENABLED == 1
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setupWiFi();
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#endif
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setupIMU();
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setupRC();
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setLED(false);
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Serial.println("Initializing complete");
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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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parseInput();
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#if WIFI_ENABLED == 1
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processMavlink();
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#endif
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logData();
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flushParameters();
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}
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