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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.
68 lines
1.5 KiB
C++
68 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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// 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 RC_CHANNELS 16
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#define MOTOR_REAR_LEFT 0
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#define MOTOR_FRONT_LEFT 3
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#define MOTOR_FRONT_RIGHT 2
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#define MOTOR_REAR_RIGHT 1
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#define WIFI_ENABLED 1
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#define ONE_G 9.80665
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float t = NAN;
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float dt;
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float loopRate;
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float motors[4];
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int16_t channels[16]; // raw rc channels
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float controls[RC_CHANNELS];
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float controlsTime;
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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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// declarations
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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 interpretRC();
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void controlAttitude();
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void controlRate();
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void controlTorque();
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void showTable();
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bool motorsActive();
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void cliTestMotor(uint8_t n);
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String stringToken(char* str, const char* delim);
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void normalizeRC();
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void printRCCal();
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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 failsafe();
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void descend();
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inline Quaternion FLU2FRD(const Quaternion &q);
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// mocks
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void setLED(bool on) {};
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void calibrateGyro() { printf("Skip gyro calibrating\n"); };
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void calibrateAccel() { printf("Skip accel calibrating\n"); };
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void sendMotors() {};
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void printIMUCal() { printf("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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