2 Commits

Author	SHA1	Message	Date
sl-controls	f4e71777ec	fix: Resolve all compile and linker errors (Issue #337) ... Fixed 7 compile errors across 6 files: 1. servo.c: Removed duplicate ServoState typedef, updated struct definition in header 2. watchdog.c: Fixed IWDG handle usage - moved to global scope for IRQHandler access 3. ultrasonic.c: Fixed timer handle type mismatches - use TIM_HandleTypeDef instead of TIM_TypeDef, replaced HAL_TIM_IC_Init_Compat with proper HAL functions 4. main.c: Replaced undefined functions - imu_calibrated() → mpu6000_is_calibrated(), crsf_is_active() → manual state check 5. ina219.c: Stubbed I2C functions pending HAL implementation Build now passes with ZERO errors. - RAM: 6.5% (16964 bytes / 262144) - Flash: 10.6% (55368 bytes / 524288) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-03 19:00:12 -05:00
sl-firmware	532edb835b	feat(firmware): Pan-tilt servo driver for camera head (Issue #206) ... Implements TIM4 PWM driver for 2-servo camera mount with: - 50 Hz PWM frequency (standard servo control) - CH1 (PB6) pan servo, CH2 (PB7) tilt servo - 0-180° angle range → 500-2500 µs pulse width mapping - Non-blocking servo_set_angle() for immediate positioning - servo_sweep() for smooth pan-tilt animation (linear interpolation) - Independent sweep control per servo (pan and tilt move simultaneously) - 15 comprehensive unit tests covering all scenarios Integration: - servo_init() called at startup after power_mgmt_init() - servo_tick(now_ms) called every 1ms in main loop - Ready for camera/gimbal control automation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 11:44:56 -05:00