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ESP32-CAN
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add throttles back. radio power lvl

This commit is contained in:
franchioping 2026-04-18 13:56:05 +01:00
parent 6abf3028c8
commit a9cd5e971f
2 changed files with 3 additions and 5 deletions
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7
main/drone.cpp
View File

@ -8,9 +8,7 @@
#include "drone_controller.h" #include "drone_controller.h"
#include "dshot_definitions.h" #include "dshot_definitions.h"
#include "esp32-hal.h" #include "esp32-hal.h" #include "esp_log.h" #include "freertos/FreeRTOS.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/idf_additions.h" #include "freertos/idf_additions.h"
#include "freertos/projdefs.h" #include "freertos/projdefs.h"
#include "freertos/task.h" #include "freertos/task.h"
@ -123,8 +121,7 @@ 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(motor_throttles[i] * 100.0f * 0.7f); motors[i]->sendThrottlePercent(motor_throttles[i] * 100.0f * 0.7f);
motors[i]->sendThrottlePercent(10.0f);
} }
vTaskDelay(2); vTaskDelay(2);
} }

1
main/radio.cpp
View File

@ -59,6 +59,7 @@ void radio_task(void *pvParameters) {
RFM69 radio(RFM69_CS, RFM69_INT, true, &hspi); RFM69 radio(RFM69_CS, RFM69_INT, true, &hspi);
if (radio.initialize(FREQUENCY, NODEID, NETWORKID)) { if (radio.initialize(FREQUENCY, NODEID, NETWORKID)) {
radio.setPowerLevel(31);
radio.setHighPower(true); radio.setHighPower(true);
radio.setCustomBitrate(DEFAULT_COMMS_BITRATE); radio.setCustomBitrate(DEFAULT_COMMS_BITRATE);
ESP_LOGI(TAG, "Radio Initialized. Version: 0x%02X", radio.readReg(0x10)); ESP_LOGI(TAG, "Radio Initialized. Version: 0x%02X", radio.readReg(0x10));