flix

// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix

// Declarations of some functions and variables in Arduino code

#include <cmath>
#include <stdio.h>
#include "vector.h"
#include "quaternion.h"
#include "Arduino.h"
#include "wifi.h"
#include "lpf.h"

extern float t, dt;
extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
extern Vector rates;
extern Quaternion attitude;
extern bool landed;
extern float motors[4];

Vector gyro, acc, imuRotation;
Vector accBias, gyroBias, accScale(1, 1, 1);
LowPassFilter<Vector> gyroBiasFilter(0);

// declarations
void step();
void computeLoopRate();
void applyGyro();
void applyAcc();
void applyLevel();
void control();
void interpretControls();
void controlAttitude();
void controlRates();
void controlTorque();
void desaturate(float& a, float& b, float& c, float& d);
const char* getModeName();
void sendMotors();
int getDutyCycle(float value);
bool motorsActive();
void testMotor(int n);
void print(const char* format, ...);
void pause(float duration);
void doCommand(String str, bool echo);
void handleInput();
void setupRC();
void normalizeRC();
void calibrateRC();
void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*);
void printRCCalibration();
void printLogHeader();
void printLogData();
void processMavlink();
void sendMavlink();
void sendMessage(const void *msg);
void receiveMavlink();
void handleMavlink(const void *_msg);
void mavlinkPrint(const char* str);
void sendMavlinkPrint();
inline Quaternion fluToFrd(const Quaternion &q);
void setupPower();
void failsafe();
void rcLossFailsafe();
void descend();
void autoFailsafe();
int parametersCount();
const char *getParameterName(int index);
float getParameter(int index);
float getParameter(const char *name);
bool setParameter(const char *name, const float value);
void printParameters();
void resetParameters();

// mocks
void setLED(bool on) {};
void calibrateGyro() { print("Skip gyro calibrating\n"); };
void calibrateAccel() { print("Skip accel calibrating\n"); };
void printIMUCalibration() { print("cal: N/A\n"); };
void printIMUInfo() {};
void printWiFiInfo() {};
void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); };