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RangingSensor and bug fixed

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Implemented RangingSensor driver and choice between barometer and RangingSensor. Reduced I/O load.
This commit is contained in:
Goga Coder
2024-03-11 22:47:32 +07:00
parent 007a3fd16f
commit e27b3ca794
16 changed files with 208 additions and 73 deletions
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8
src/main.cpp
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@@ -14,14 +14,18 @@ void setup() {
new BluetoothDispatcher(new BluetoothSerial()),
new FlightController(
new Sensors(new Barometer(new GyverBME280(i2c)),
new RangingSensor(i2c),
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
new Kalman2DFilter(10.f, 1.f, 1.8f),
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN)),
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN),
HeightSensor::Hybrid),
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"), // height
new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"), // yaw
new BrushedMotor(1, 2, 3, 4, 1),
new BrushedMotor(1, 2, 3, 4, 1),
new PIDController(0.6f, 3.5f, 0.03f, new BrushedMotor(1, 2, 3, 4, 3), "RollControl"), // pitch
new PIDController(0.6f, 3.5f, 0.03f,
new BrushedMotor(1, 2, 3, 4, 3),
"RollControl"), // pitch
true)));
}