From 0d951f3174f938c08aa5f3af6f16447c4220dcf5 Mon Sep 17 00:00:00 2001
From: Vynwg <me@vynwg.com>
Date: Sun, 26 Nov 2023 20:12:21 -0300
Subject: [PATCH] Remove heading filter
---
platformio.ini | 2 +-
src/comm.cpp | 3 ++-
src/main.cpp | 4 +---
src/servo.cpp | 18 +++++++-----------
src/servo.h | 3 ---
5 files changed, 11 insertions(+), 19 deletions(-)
diff --git a/platformio.ini b/platformio.ini
index 6ef56c1..30b2219 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -17,4 +17,4 @@ lib_deps =
dfrobot/DFRobot_QMC5883@^1.0.0
juerd/ESP-WiFiSettings@^3.8.0
https://github.com/sivar2311/WebMonitor
-upload_flags = --auth=senha1234
+;upload_flags = --auth=senha1234
diff --git a/src/comm.cpp b/src/comm.cpp
index 1597c8b..a0963e7 100644
--- a/src/comm.cpp
+++ b/src/comm.cpp
@@ -34,9 +34,10 @@ byte CommunicationsController::process(float *azimuth, float *altitude) {
if (l4s) {
while (l4s.connected()) {
+ ArduinoOTA.handle();
+
handle_client();
byte resp = parseLook4Sat(azimuth, altitude);
- ArduinoOTA.handle();
if (resp == 1) {
return 1;
diff --git a/src/main.cpp b/src/main.cpp
index ca91fe9..93dd7d6 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -6,7 +6,6 @@
ServoController controller;
CommunicationsController comms;
-
void setup() {
LittleFS.begin();
comms.init();
@@ -32,8 +31,7 @@ void loop() {
}
controller.updateHeading();
-
+ controller.moveToAzAlt(azimuth, altitude);
WebMonitor.println(azimuth);
WebMonitor.println(altitude);
- controller.moveToAzAlt(azimuth, altitude);
}
diff --git a/src/servo.cpp b/src/servo.cpp
index 0582d04..9b59340 100644
--- a/src/servo.cpp
+++ b/src/servo.cpp
@@ -6,6 +6,11 @@ void ServoController::initServos() {
delay(50); // Espera 50ms para o motor se mover
VrtSrv.attach(13, 500, 2500);
delay(50);
+
+ HrzSrv.write(0);
+ delay(50);
+ VrtSrv.write(0);
+ delay(50);
}
void ServoController::initMag() {
@@ -47,18 +52,9 @@ void ServoController::initMag() {
void ServoController::updateHeading() {
mag.getHeadingDegrees();
sVector_t raw = mag.readRaw();
- float tmp = raw.HeadingDegress;
-
- headingBuffer[bufferPos++] = tmp;
- if (bufferPos > HEADING_BUFFER_LENGTH) {
- bufferPos = 0;
- }
+ headingDegrees = raw.HeadingDegress;
- headingDegrees = 0;
- for (byte i = 0; i < HEADING_BUFFER_LENGTH; i++) {
- headingDegrees += headingBuffer[i];
- }
- headingDegrees /= HEADING_BUFFER_LENGTH;
+ WebMonitor.println(headingDegrees);
}
void ServoController::moveToAzAlt(float azimuth, float altitude) {
diff --git a/src/servo.h b/src/servo.h
index 07474bd..da603c3 100644
--- a/src/servo.h
+++ b/src/servo.h
@@ -3,7 +3,6 @@
#include <DFRobot_QMC5883.h>
#define DECLINATION -0.353429173528852
-#define HEADING_BUFFER_LENGTH 16
#ifndef SERVO_H
#define SERVO_H
@@ -11,8 +10,6 @@
class ServoController {
private:
int headingDegrees;
- byte bufferPos = 0;
- float headingBuffer[HEADING_BUFFER_LENGTH];
Servo HrzSrv;
Servo VrtSrv;