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ESP32-CAN
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remove print that crashes when usb is not plugged in for some fucking reason

This commit is contained in:
franchioping 2026-04-19 21:49:24 +01:00
parent f5dbec4b63
commit 16ae08dafd
3 changed files with 14 additions and 12 deletions
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2
main/drone.cpp
View File

@ -129,7 +129,7 @@ void motor_throttles_task(void *params) {
if (atomic_load(&killswitch_active)) { if (atomic_load(&killswitch_active)) {
throttle = 0.0; throttle = 0.0;
} }
motors[i]->sendThrottlePercent(throttle); motors[i]->sendThrottlePercent(5.0);
} }
vTaskDelay(2); vTaskDelay(2);
} }

4
main/drone.h
View File

@ -171,10 +171,10 @@ struct drone_cont_state {
.yaw_input = cont_input.lx, .yaw_input = cont_input.lx,
.pitch_input = cont_input.ry}, .pitch_input = cont_input.ry},
.acceleration = {0.0, 0.0, 0.0}, .acceleration = {0.0, 0.0, 0.0},
.rotation = {0.0, 0.0, 0.0}, .rotation = {1.0, 0.0, 0.0},
.velocity = {0.0, 0.0, 0.0}, .velocity = {0.0, 0.0, 0.0},
.position = {0.0, 0.0, 0.0}, .position = {0.0, 0.0, 0.0},
.mode = dcont::ModeInput::Acro}); .mode = dcont::ModeInput::Rotation});
} else { } else {
drone_cont_stabilize(); drone_cont_stabilize();
} }

20
main/main.cpp
View File

@ -49,15 +49,6 @@ extern "C" void app_main(void) {
xTaskCreatePinnedToCore(gps_poll_task, "gps_poll", 8192, NULL, 5, NULL, 0); xTaskCreatePinnedToCore(gps_poll_task, "gps_poll", 8192, NULL, 5, NULL, 0);
xTaskCreatePinnedToCore(drone_controller_task, // Function name
"drone_controller_task", // Name for debugging
1024 * 32, // Stack size in bytes
NULL, // Parameters
20, // Priority (higher = more urgent)
NULL, // Task handle
1 // Core ID
);
xTaskCreatePinnedToCore(motor_throttles_task, // Function name xTaskCreatePinnedToCore(motor_throttles_task, // Function name
"motor_throttles_task", // Name for debugging "motor_throttles_task", // Name for debugging
1024 * 4, // Stack size in bytes 1024 * 4, // Stack size in bytes
@ -67,6 +58,17 @@ extern "C" void app_main(void) {
1 // Core ID 1 // Core ID
); );
vTaskDelay(2);
xTaskCreatePinnedToCore(drone_controller_task, // Function name
"drone_controller_task", // Name for debugging
1024 * 32, // Stack size in bytes
NULL, // Parameters
20, // Priority (higher = more urgent)
NULL, // Task handle
0 // Core ID
);
// vTaskDelay(5000); // vTaskDelay(5000);
// for (int i = 0; i < 4; i++) { // for (int i = 0; i < 4; i++) {
// motor_throttles[i] = 10.0; // motor_throttles[i] = 10.0;