Smikkelbakje/Drone-FabAcademy-2025
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output finally works

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forgot to set standard values for controller when it's not connected
This commit is contained in:
Sam Hos
2025-03-31 13:23:48 +02:00
parent 5c10f8fbfc
commit cfa8a9d74e
1 changed files with 10 additions and 10 deletions
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20
src/drone/src/main.cpp
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@@ -283,10 +283,10 @@ DSM1024 DSM;
// Must match the sender structure
typedef struct struct_message
{
int PWMCH1;
int PWMCH2;
int PWMCH3;
int PWMCH4;
int PWMCH1 = 1500;
int PWMCH2 = 1500;
int PWMCH3 = 1500;
int PWMCH4 = 1500;
} struct_message;
// Create a struct_message called myData
@@ -477,12 +477,12 @@ void loop()
// Print data at 100hz (uncomment one at a time for troubleshooting) - SELECT ONE:
// printRadioData(); //Prints radio pwm values (expected: 1000 to 2000)
// printDesiredState(); //Prints desired vehicle state commanded in either degrees or deg/sec (expected: +/- maxAXIS for roll, pitch, yaw; 0 to 1 for throttle)
printGyroData(); //Prints filtered gyro data direct from IMU (expected: ~ -250 to 250, 0 at rest)
printAccelData(); // Prints filtered accelerometer data direct from IMU (expected: ~ -2 to 2; x,y 0 when level, z 1 when level)
// printGyroData(); //Prints filtered gyro data direct from IMU (expected: ~ -250 to 250, 0 at rest)
// printAccelData(); // Prints filtered accelerometer data direct from IMU (expected: ~ -2 to 2; x,y 0 when level, z 1 when level)
// printMagData(); //Prints filtered magnetometer data direct from IMU (expected: ~ -300 to 300)
printRollPitchYaw(); //Prints roll, pitch, and yaw angles in degrees from Madgwick filter (expected: degrees, 0 when level)
printPIDoutput(); //Prints computed stabilized PID variables from controller and desired setpoint (expected: ~ -1 to 1)
// printMotorCommands(); //Prints the values being written to the motors (expected: 120 to 250)
// printRollPitchYaw(); //Prints roll, pitch, and yaw angles in degrees from Madgwick filter (expected: degrees, 0 when level)
// printPIDoutput(); //Prints computed stabilized PID variables from controller and desired setpoint (expected: ~ -1 to 1)
printMotorCommands(); //Prints the values being written to the motors (expected: 120 to 250)
// printServoCommands(); //Prints the values being written to the servos (expected: 0 to 180)
// printLoopRate(); //Prints the time between loops in microseconds (expected: microseconds between loop iterations)
// printDebugInfo(); //PWM 1 and 5 + Armed condition
@@ -894,7 +894,7 @@ void calibrateAttitude()
Madgwick(GyroX, -GyroY, -GyroZ, -AccX, AccY, AccZ, MagY, -MagX, MagZ, dt);
loopRate(2000); // do not exceed 2000Hz
}
}
void Madgwick(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float invSampleFreq)
{