bisultanov/RaDrone
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Лидар интегрирован в основной цикл

Browse Source
This commit is contained in:
Раджаб Бисултанов
2026-02-25 17:07:59 +03:00
parent 2b3e4129e8
commit 8a3336c994
1 changed files with 6 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
Source/main.c
View File

@@ -5,6 +5,7 @@
#include "radio_receiver.h" #include "radio_receiver.h"
#include "motors.h" #include "motors.h"
#include "pid.h" #include "pid.h"
#include "lidar.h"
imu_scaled_t imu; imu_scaled_t imu;
@@ -12,6 +13,7 @@ attitude_t attitude;
rc_channels rx_chs_raw; rc_channels rx_chs_raw;
rc_channels rx_chs_normalized; rc_channels rx_chs_normalized;
control_channels_t ctrl_chs; control_channels_t ctrl_chs;
lidar_data lidar;
void delay_ms(uint32_t ms); void delay_ms(uint32_t ms);
@@ -35,6 +37,8 @@ int main(void)
motors_init(); motors_init();
lidar_init();
while (1) while (1)
{ {
attitude_update(&attitude, &imu); attitude_update(&attitude, &imu);
@@ -44,6 +48,8 @@ int main(void)
attitude_pid_update(&ctrl_chs, &rx_chs_normalized, &attitude, &imu); attitude_pid_update(&ctrl_chs, &rx_chs_normalized, &attitude, &imu);
lidar_update(&lidar);
if (rx_chs_normalized.rc_armed) if (rx_chs_normalized.rc_armed)
{ {
motors_set_throttle_mix(rx_chs_normalized.rc_throttle, &ctrl_chs, rx_chs_normalized.rc_armed); motors_set_throttle_mix(rx_chs_normalized.rc_throttle, &ctrl_chs, rx_chs_normalized.rc_armed);