feat(example): 新增飞行控制 C 示例项目

- 提供传感器、滤波、控制律和执行器等模块化示例
- 包含约 35 个函数用于代码分析与文档生成流程测试
- 使用 Makefile 支持最小化编译验证

include/flight_app.h

@@ -0,0 +1,94 @@
+#ifndef FLIGHT_APP_H
+#define FLIGHT_APP_H
+
+#include <stdint.h>
+
+typedef struct {
+    int16_t raw_air_speed;
+    int16_t raw_altitude;
+    int16_t raw_pitch;
+    int16_t raw_temperature;
+} SensorRawData;
+
+typedef struct {
+    float air_speed;
+    float altitude;
+    float pitch;
+    float temperature;
+} SensorData;
+
+typedef struct {
+    float target_speed;
+    float target_altitude;
+    float pitch_limit;
+    uint8_t auto_mode;
+} CommandState;
+
+typedef struct {
+    float throttle;
+    float elevator;
+    uint8_t armed;
+} ActuatorState;
+
+typedef struct {
+    uint16_t sensor_fault;
+    uint16_t actuator_fault;
+    uint16_t command_fault;
+    uint16_t cycle_count;
+} DiagnosticState;
+
+typedef struct {
+    SensorData sensor;
+    CommandState command;
+    ActuatorState actuator;
+    DiagnosticState diagnostic;
+} AppState;
+
+void System_Init(AppState *state);
+void System_LoadDefaults(CommandState *command);
+void System_RunCycle(AppState *state);
+void System_Shutdown(AppState *state);
+
+void Sensor_Init(SensorRawData *raw);
+void Sensor_ReadAdc(SensorRawData *raw);
+uint8_t Sensor_Validate(const SensorRawData *raw);
+void Sensor_Scale(const SensorRawData *raw, SensorData *data);
+void Sensor_Collect(SensorRawData *raw, SensorData *data);
+
+void Filter_Init(SensorData *data);
+float Filter_Median3(float a, float b, float c);
+float Filter_LowPass(float previous, float current, float alpha);
+float Filter_Limit(float value, float min_value, float max_value);
+void Filter_Process(SensorData *data);
+
+void Control_Init(CommandState *command);
+float Control_ComputeSpeedError(const CommandState *command, const SensorData *data);
+float Control_ComputeAltitudeError(const CommandState *command, const SensorData *data);
+float Control_PidStep(float error, float gain, float limit);
+void Control_Update(const CommandState *command, const SensorData *data, ActuatorState *actuator);
+
+void Actuator_Init(ActuatorState *actuator);
+void Actuator_Arm(ActuatorState *actuator);
+void Actuator_WriteThrottle(ActuatorState *actuator, float throttle);
+void Actuator_WriteElevator(ActuatorState *actuator, float elevator);
+void Actuator_UpdateOutputs(ActuatorState *actuator);
+void Actuator_Disarm(ActuatorState *actuator);
+
+void Comm_Init(CommandState *command);
+uint16_t Comm_PackStatus(const AppState *state);
+uint8_t Comm_ReceiveCommand(CommandState *command, uint16_t word);
+void Comm_ApplyCommand(CommandState *command, uint16_t word);
+void Comm_SendStatus(uint16_t status_word);
+
+void Diag_Init(DiagnosticState *diagnostic);
+uint8_t Diag_CheckSensor(const SensorData *data);
+uint8_t Diag_CheckActuator(const ActuatorState *actuator);
+void Diag_UpdateFaults(DiagnosticState *diagnostic, const SensorData *data, const ActuatorState *actuator);
+uint16_t Diag_ReportStatus(const DiagnosticState *diagnostic);
+
+void Log_Init(void);
+void Log_RecordSample(const SensorData *data);
+void Log_RecordFault(uint16_t status_word);
+void Log_Flush(void);
+
+#endif