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https://github.com/okalachev/flix.git
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149c62568f
Move command parsing to doCommand Parse command with splitString instead of stringToken Trim commands Move cliTestMotor to the bottom Rename parseInput to handleInput, which is more clear Move motor test function to motors.ino
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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Serial.println("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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Serial.println("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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