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https://github.com/okalachev/flix.git
synced 2025-07-27 09:39:33 +00:00
52819e403b
Implement channels mapping calibration. Store mapping in parameters. Get rid of `controls` array and store control inputs in `controlRoll`, `controlPitch`, ... variables. Move `channels` variable to rc.ino, channels are not involved when controled using mavlink. 'Neutral' values are renamed to 'zero' - more precise naming. `controlsTime` is renamed to `controlTime`. Use unsigned values for channels. Make channel values in simulation more alike to real world: unsigned values in range [1000, 2000]. Send RC_CHANNELS_RAW instead of RC_CHANNELS_SCALED via mavlink Don't send channels data via mavlink if rc is not used
54 lines
1.2 KiB
C++
54 lines
1.2 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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#include "util.h"
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#define SERIAL_BAUDRATE 115200
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#define WIFI_ENABLED 1
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double t = NAN; // current step time, s
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float dt; // time delta from previous step, s
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float controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode; // pilot's inputs, range [-1, 1]
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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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bool landed; // are we landed and stationary
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float motors[4]; // normalized motors thrust in range [0..1]
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void setup() {
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Serial.begin(SERIAL_BAUDRATE);
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print("Initializing flix\n");
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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
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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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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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#if WIFI_ENABLED
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processMavlink();
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#endif
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logData();
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syncParameters();
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}
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