From 8a3336c994b5d3e8b669528f37f57b501bb1f7bc Mon Sep 17 00:00:00 2001 From: Radzhab Bisultanov Date: Wed, 25 Feb 2026 17:07:59 +0300 Subject: [PATCH] =?UTF-8?q?=D0=9B=D0=B8=D0=B4=D0=B0=D1=80=20=D0=B8=D0=BD?= =?UTF-8?q?=D1=82=D0=B5=D0=B3=D1=80=D0=B8=D1=80=D0=BE=D0=B2=D0=B0=D0=BD=20?= =?UTF-8?q?=D0=B2=20=D0=BE=D1=81=D0=BD=D0=BE=D0=B2=D0=BD=D0=BE=D0=B9=20?= =?UTF-8?q?=D1=86=D0=B8=D0=BA=D0=BB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Source/main.c | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/Source/main.c b/Source/main.c index 7e573a0..b12f4d0 100644 --- a/Source/main.c +++ b/Source/main.c @@ -5,6 +5,7 @@ #include "radio_receiver.h" #include "motors.h" #include "pid.h" +#include "lidar.h" imu_scaled_t imu; @@ -12,6 +13,7 @@ attitude_t attitude; rc_channels rx_chs_raw; rc_channels rx_chs_normalized; control_channels_t ctrl_chs; +lidar_data lidar; void delay_ms(uint32_t ms); @@ -35,6 +37,8 @@ int main(void) motors_init(); + lidar_init(); + while (1) { attitude_update(&attitude, &imu); @@ -44,6 +48,8 @@ int main(void) attitude_pid_update(&ctrl_chs, &rx_chs_normalized, &attitude, &imu); + lidar_update(&lidar); + if (rx_chs_normalized.rc_armed) { motors_set_throttle_mix(rx_chs_normalized.rc_throttle, &ctrl_chs, rx_chs_normalized.rc_armed);