Lesson 2: Open-Loop Control (Manual Mixing)

Goal / 目標

Read stick values into variables and compute each motor's Duty using arithmetic (manual mixing). スティック値を変数に読み取り、四則演算で各モータの Duty を手動計算する。

Prerequisites / 前提条件

• Controller paired with StampFly (3-second button press to pair)

API / 使用するAPI

Function	Description	Range
ws::rc_throttle()	Throttle stick	0.0 to 1.0
ws::rc_roll()	Roll stick	-1.0 to +1.0
ws::rc_pitch()	Pitch stick	-1.0 to +1.0
ws::rc_yaw()	Yaw stick	-1.0 to +1.0
ws::is_armed()	ARM status	true/false
ws::motor_set_duty(id, v)	Set individual motor	id=1-4, v=0.0-1.0

Motor Mixing Sign Convention / モータミキシング符号規則

         Front
    FL(M4)  FR(M1)
        \ ^ /
         \|/
          X
         /|\
    RL(M3)  RR(M2)
         Rear

Motor	T	Roll	Pitch	Yaw
M1 FR	+	-	+	+
M2 RR	+	-	-	-
M3 RL	+	+	-	+
M4 FL	+	+	+	-

Steps / 手順

1. sf lesson switch 2
2. Pair controller (3s button hold on StampFly)
3. Read TRPY stick values into variables with scaling (* 0.3f)
4. Compute each motor Duty: e.g. M1 = T + R - P - Y
5. Set motors with ws::motor_set_duty(id, duty)
6. Verify: pitch stick creates front/rear speed difference
7. Try changing gain (0.3f) and observe behavior

Key Concepts / キーコンセプト

• Variable declaration and arithmetic (float t = ...)
• Scaling stick input (* 0.3f for gentle response)
• Manual motor mixing (addition / subtraction per motor)
• Open-loop control limitations (no feedback)