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https://github.com/okalachev/flix.git
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8418723ccc
Add interpretControls function to convert pilot commands and mode into control targets and make control functions independent from the mode. Add ratesExtra target for rates feed-forward; remove yawMode. Rename controlRate to controlRates to reflect rates variable name. Remove USER mode.
76 lines
1.9 KiB
C++
76 lines
1.9 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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float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
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float controlArmed = NAN, controlMode = NAN;
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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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bool landed;
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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 interpretControls();
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void controlAttitude();
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void controlRates();
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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(int n);
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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 normalizeRC();
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void calibrateRC();
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void calibrateRCChannel(float *channel, uint16_t zero[16], uint16_t max[16], const char *str);
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void printRCCalibration();
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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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void sendMavlinkPrint();
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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 printIMUCalibration() { 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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