int main(void) {
init_system();
while (1) {
output_logic();
state_logic();
if(SerialInterrupt_flag==1){
present_state = CharRX;
SerialInterrupt_flag=0;
}
}
}
// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
// update throttle filter
update_throttle_filter();
// update battery resistance
update_battery_resistance();
// calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage();
// run spool logic
output_logic();
// calculate thrust
output_armed_stabilizing();
// convert rpy_thrust values to pwm
output_to_motors();
};
// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
// update throttle filter
update_throttle_filter();
// calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage();
// run spool logic
output_logic();
// calculate thrust
output_armed_stabilizing();
// apply any thrust compensation for the frame
thrust_compensation();
// convert rpy_thrust values to pwm
output_to_motors();
// output any booster throttle
output_boost_throttle();
};
