Осуществлён переход на кватернионы. Но нужно протестировать

2026-03-13 16:28:06 +03:00
parent 469ec64d45
commit c3a7907e16
8 changed files with 217 additions and 56 deletions
--- a/Source/main.c
+++ b/Source/main.c
@@ -34,20 +34,19 @@ int main(void)
 	
 	imu_calibrate();
 	
+	attitude_init(&attitude);
+	
 	receiver_init();
 	
 	motors_init();
 	
 	while (1)
 	{
-		attitude_update(&attitude, &imu);
-		
 		receiver_update(&rx_chs_raw);
 		rx_chs_normalized = normalize_channels(rx_chs_raw);
 		
-		attitude_pid_update(&ctrl_chs, &rx_chs_normalized, &attitude, &imu);
-		
-		lidar_update(&lidar);
+		attitude_update(&attitude, &imu);
+		attitude_pid_update(&ctrl_chs, &rx_chs_normalized, &attitude);
 		
 		if (rx_chs_normalized.rc_armed)
 		{