Лидар интегрирован в основной цикл

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);