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d60628e14d
Implement receiving and sending SERIAL_CONTROL message Use global defined print function instead of Serial.printf
54 lines
1.1 KiB
C++
54 lines
1.1 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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int16_t channels[16]; // raw rc channels
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float controls[16]; // normalized controls in range [-1..1] ([0..1] for throttle)
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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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print("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
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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");
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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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