mirror of
https://github.com/okalachev/flix.git
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Oleg Kalachev
96 lines
2.4 KiB
C++
96 lines
2.4 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// All-in-one header file
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#pragma once
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#include <Arduino.h>
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#include "vector.h"
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#include "quaternion.h"
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extern float t, dt;
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extern float loopRate;
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extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
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extern Vector gyro, acc;
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extern Vector rates;
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extern Quaternion attitude;
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extern bool landed;
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extern int mode;
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extern bool armed;
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extern Quaternion attitudeTarget;
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extern Vector ratesTarget, ratesExtra, torqueTarget;
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extern float thrustTarget;
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extern float motors[4];
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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 = false);
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void handleInput();
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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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void desaturate(float& a, float& b, float& c, float& d);
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const char *getModeName();
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void estimate();
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void applyGyro();
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void applyAcc();
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void applyLevel();
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void setupIMU();
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void configureIMU();
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void readIMU();
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void rotateIMU(Vector& data);
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void calibrateGyroOnce();
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void calibrateAccel();
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void calibrateAccelOnce();
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void printIMUCalibration();
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void printIMUInfo();
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void setupLED();
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void setLED(bool on);
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void blinkLED();
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void prepareLogData();
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void logData();
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void printLogHeader();
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void printLogData();
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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 printWiFiInfo();
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void configWiFi(int mode, const char *first, const char *second);
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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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void setupMotors();
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int getDutyCycle(float value);
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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 setupParameters();
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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 syncParameters();
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void printParameters();
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void resetParameters();
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void setupRC();
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bool readRC();
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void normalizeRC();
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void calibrateRC();
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void calibrateRCChannel(int *channel, uint16_t in[16], uint16_t out[16], const char *str);
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void printRCCalibration();
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void setupPower();
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void failsafe();
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void rcLossFailsafe();
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void descend();
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void autoFailsafe();
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void step();
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void computeLoopRate();
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void setupWiFi();
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void sendWiFi(const uint8_t *buf, int len);
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int receiveWiFi(uint8_t *buf, int len);
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