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mirror of https://github.com/okalachev/flix.git synced 2025-07-29 12:28:59 +00:00
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Oleg Kalachev e1ff92c5f0 Website
2024-03-04 03:18:04 +03:00

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font-family: "d2-473818875-font-italic";
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xlink:href="https://github.com/okalachev/flix/blob/master/flix/rc.ino"><g id="rc"><g class="shape" ><rect x="980.000000" y="0.000000" width="187.000000" height="66.000000" class=" stroke-B1 fill-B6" style="stroke-width:2;" /></g><text x="1073.500000" y="38.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">Remote control</text></g></a><a href="https://github.com/okalachev/flix/blob/master/flix/estimate.ino" xlink:href="https://github.com/okalachev/flix/blob/master/flix/estimate.ino"><g id="attitude estimator"><g class="shape" ><rect x="636.000000" y="187.000000" width="210.000000" height="66.000000" class=" stroke-B1 fill-B6" style="stroke-width:2;" /></g><text x="741.000000" y="225.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">Attitude estimator</text></g></a><a href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L93" xlink:href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L93"><g id="attitude target"><g class="shape" ><rect x="948.000000" y="187.000000" width="252.000000" height="66.000000" class=" stroke-B1 fill-B6" style="stroke-width:2;" /></g><text x="1074.000000" y="225.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">Calculate attitude target</text></g></a><a href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L156" xlink:href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L156"><g id="torque control"><g class="shape" ><rect x="167.000000" y="1899.000000" width="250.000000" height="66.000000" class=" stroke-B1 fill-B6" style="stroke-width:2;" /></g><text x="292.000000" y="1937.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">Calculate motors output</text></g></a><a href="https://github.com/okalachev/flix/blob/master/flix/motors.ino" xlink:href="https://github.com/okalachev/flix/blob/master/flix/motors.ino"><g id="motors"><g class="shape" ><rect x="229.000000" y="2086.000000" width="126.000000" height="66.000000" rx="8.000000" stroke="#ff9400" fill="#ff9400" style="stroke-width:3;" /></g><text x="292.000000" y="2124.500000" fill="white" class="text-bold" style="text-anchor:middle;font-size:16px">Motors</text></g></a><g id="control"><g class="shape" ><rect x="10.000000" y="631.000000" width="600.000000" height="1127.000000" class=" stroke-B1 fill-B4" style="stroke-width:2;" /></g><text x="310.000000" y="618.000000" class="text fill-N1" style="text-anchor:middle;font-size:28px">Rates control</text></g><g id="attitude control"><g class="shape" ><rect x="786.000000" y="394.000000" width="305.000000" height="363.000000" class=" stroke-B1 fill-B4" style="stroke-width:2;" /></g><text x="938.500000" y="381.000000" class="text fill-N1" style="text-anchor:middle;font-size:28px">Attitude control</text></g><a href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L49" xlink:href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L49"><g id="control.rates lpf"><g class="shape" ><rect x="64.000000" y="661.000000" width="221.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="174.500000" y="699.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">Rates low-pass filter</text></g></a><a href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L142" xlink:href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L142"><g id="control.error"><g class="shape" ><rect x="117.000000" y="898.000000" width="316.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="275.000000" y="936.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">error = rates target - rates filtered</text></g></a><g id="control.kp"><g class="shape" ><rect x="40.000000" y="1467.000000" width="108.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="94.000000" y="1505.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">P ⋅ error</text></g><a href="https://github.com/okalachev/flix/blob/master/flix/pid.h#L25" xlink:href="https://github.com/okalachev/flix/blob/master/flix/pid.h#L25"><g id="control.integral"><g class="shape" ><rect x="211.000000" y="1085.000000" width="128.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="275.000000" y="1123.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">∫ error</text></g></a><a href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/pid.h#L29" xlink:href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/pid.h#L29"><g id="control.differential"><g class="shape" ><rect x="414.000000" y="1085.000000" width="153.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="490.500000" y="1123.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">δerror / δt</text></g></a><g id="control.ki"><g class="shape" ><rect x="213.000000" y="1272.000000" width="123.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="274.500000" y="1310.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">I ⋅ integral</text></g><g id="control.constrain integral"><g class="shape" ><rect x="208.000000" y="1459.000000" width="133.000000" height="82.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="274.500000" y="1497.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px"><tspan x="274.500000" dy="0.000000">Constrain to</tspan><tspan x="274.500000" dy="18.500000">[-I lim; I lim]</tspan></text></g><a href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/pid.h#L32" xlink:href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/pid.h#L32"><g id="control.d lpf"><g class="shape" ><rect x="401.000000" y="1459.000000" width="179.000000" height="82.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="490.500000" y="1497.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px"><tspan x="490.500000" dy="0.000000">D-term</tspan><tspan x="490.500000" dy="18.500000">low-pass filter</tspan></text></g></a><g id="control.kd"><g class="shape" ><rect x="414.000000" y="1272.000000" width="153.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="490.500000" y="1310.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">D ⋅ differential</text></g><g id="control.pid"><g class="shape" ><rect x="254.000000" y="1662.000000" width="76.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="292.000000" y="1700.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">Sum</text></g><a href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L123" xlink:href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L123"><g id="attitude control.error"><g class="shape" ><rect x="816.000000" y="424.000000" width="245.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="938.500000" y="462.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">Calculate attitude error</text></g></a><a href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L125" xlink:href="https://github.com/okalachev/flix/blob/1c9b10a674acf809329786bcab49bd968809e63e/flix/control.ino#L125"><g id="attitude control.kp"><g class="shape" ><rect x="869.000000" y="661.000000" width="140.000000" height="66.000000" class=" stroke-B1 fill-B5" style="stroke-width:2;" /></g><text x="939.000000" y="699.500000" class="text-bold fill-N1" style="text-anchor:middle;font-size:16px">P ⋅ error</text></g></a><g id="control.(rates lpf -&gt; error)[0]"><marker id="mk-3488378134" markerWidth="10.000000" markerHeight="12.000000" refX="7.000000" refY="6.000000" viewBox="0.000000 0.000000 10.000000 12.000000" orient="auto" markerUnits="userSpaceOnUse"> <polygon points="0.000000,0.000000 10.000000,6.000000 0.000000,12.000000" class="connection fill-B1" stroke-width="2" /> </marker><path d="M 174.250000 729.000000 C 174.250000 767.000000 187.050003 849.700012 235.354524 895.740250" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" mask="url(#d2-473818875)" /><text x="183.000000" y="829.000000" class="text-italic fill-N2" style="text-anchor:middle;font-size:16px">Rates filtered</text></g><g id="control.(error -&gt; kp)[0]"><path d="M 209.226556 964.424606 C 117.399002 1012.299988 94.000000 1043.199951 94.000000 1071.250000 C 94.000000 1099.300049 94.000000 1136.699951 94.000000 1164.750000 C 94.000000 1192.800049 94.000000 1230.199951 94.000000 1258.250000 C 94.000000 1286.300049 94.000000 1412.300049 94.000000 1463.500000" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" mask="url(#d2-473818875)" /><text x="94.500000" y="1189.000000" class="text-italic fill-N2" style="text-anchor:middle;font-size:16px">Error</text></g><g id="control.(error -&gt; integral)[0]"><path d="M 274.500000 965.500000 C 274.500000 1012.299988 274.500000 1036.699951 274.500000 1081.500000" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" mask="url(#d2-473818875)" /><text x="274.500000" y="1030.000000" class="text-italic fill-N2" style="text-anchor:middle;font-size:16px">Error</text></g><g id="control.(error -&gt; differential)[0]"><path d="M 352.333515 964.298888 C 462.500000 1012.299988 490.500000 1036.699951 490.500000 1081.500000" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" mask="url(#d2-473818875)" /><text x="445.500000" y="1011.000000" class="text-italic fill-N2" style="text-anchor:middle;font-size:16px">Error</text></g><g id="control.(kp -&gt; pid)[0]"><path d="M 94.000000 1534.500000 C 94.000000 1587.699951 126.000000 1616.500000 250.378164 1674.802264" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" mask="url(#d2-473818875)" /><text x="145.500000" y="1631.000000" 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274.500000 1589.300049 276.700012 1613.699951 284.790140 1658.563492" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" mask="url(#d2-473818875)" /><text x="275.500000" y="1607.000000" class="text-italic fill-N2" style="text-anchor:middle;font-size:16px">Constrained integral term</text></g><g id="control.(differential -&gt; kd)[0]"><path d="M 490.500000 1152.500000 C 490.500000 1199.300049 490.500000 1223.699951 490.500000 1268.500000" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" mask="url(#d2-473818875)" /><text x="491.000000" y="1217.000000" class="text-italic fill-N2" style="text-anchor:middle;font-size:16px">Differential</text></g><g id="control.(kd -&gt; d lpf)[0]"><path d="M 490.500000 1339.500000 C 490.500000 1386.300049 490.500000 1410.699951 490.500000 1455.500000" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" 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id="(gyroscope -&gt; control.rates lpf)[0]"><path d="M 194.598974 67.391075 C 178.449997 114.300003 174.250000 145.199997 174.250000 173.250000 C 174.250000 201.300003 174.250000 238.699997 174.250000 266.750000 C 174.250000 294.799988 174.250000 325.600006 174.250000 343.750000 C 174.250000 361.899994 174.250000 390.600006 174.250000 415.500000 C 174.250000 440.399994 174.250000 475.700012 174.250000 503.750000 C 174.250000 531.799988 174.250000 621.000000 174.250000 657.000000" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" mask="url(#d2-473818875)" /><text x="174.000000" y="367.000000" class="text-italic fill-N2" style="text-anchor:middle;font-size:16px">Angular rates</text></g><g id="(control.pid -&gt; torque control)[0]"><path d="M 292.250000 1730.000000 C 292.250000 1768.000000 292.250000 1850.699951 292.250000 1895.500000" fill="none" class="connection stroke-B1" style="stroke-width:2;" marker-end="url(#mk-3488378134)" 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