diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index f4ef650..cd50ee2 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -23,10 +23,10 @@ jobs: with: name: firmware-binary path: flix/build + - name: Build firmware for ESP32-C3 + run: make BOARD=esp32:esp32:esp32c3 - name: Build firmware for ESP32-S3 run: make BOARD=esp32:esp32:esp32s3 - - name: Build firmware with WiFi disabled - run: sed -i 's/^#define WIFI_ENABLED 1$/#define WIFI_ENABLED 0/' flix/flix.ino && make - name: Check c_cpp_properties.json run: tools/check_c_cpp_properties.py diff --git a/.markdownlint.json b/.markdownlint.json index f98602c..ae571f8 100644 --- a/.markdownlint.json +++ b/.markdownlint.json @@ -7,6 +7,7 @@ "MD024": false, "MD033": false, "MD034": false, + "MD040": false, "MD059": false, "MD044": { "html_elements": false, diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index e795eed..f41b7f6 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -6,21 +6,20 @@ "${workspaceFolder}/flix", "${workspaceFolder}/gazebo", "${workspaceFolder}/tools/**", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32", - "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**", - "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32", + "~/.arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**", "~/Arduino/libraries/**", "/usr/include/gazebo-11/", "/usr/include/ignition/math6/" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h" + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h" ], - "compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++", + "compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++", "cStandard": "c11", "cppStandard": "c++17", "defines": [ @@ -40,21 +39,20 @@ "name": "Mac", "includePath": [ "${workspaceFolder}/flix", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32", - "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/include/**", - "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32", + "~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**", "~/Documents/Arduino/libraries/**", "/opt/homebrew/include/gazebo-11/", "/opt/homebrew/include/ignition/math6/" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h" + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h" ], - "compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++", + "compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++", "cStandard": "c11", "cppStandard": "c++17", "defines": [ @@ -77,19 +75,18 @@ "${workspaceFolder}/flix", "${workspaceFolder}/gazebo", "${workspaceFolder}/tools/**", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32", - "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**", - "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32", + "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**", "~/Documents/Arduino/libraries/**" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h" + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h" ], - "compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++.exe", + "compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++.exe", "cStandard": "c11", "cppStandard": "c++17", "defines": [ diff --git a/Makefile b/Makefile index 4102d3f..de670c4 100644 --- a/Makefile +++ b/Makefile @@ -1,6 +1,5 @@ BOARD = esp32:esp32:d1_mini32 -PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*) -PORT := $(strip $(PORT)) +PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*)) build: .dependencies arduino-cli compile --fqbn $(BOARD) flix @@ -13,12 +12,16 @@ monitor: dependencies .dependencies: arduino-cli core update-index --config-file arduino-cli.yaml - arduino-cli core install esp32:esp32@3.2.0 --config-file arduino-cli.yaml + arduino-cli core install esp32:esp32@3.3.6 --config-file arduino-cli.yaml arduino-cli lib update-index arduino-cli lib install "FlixPeriph" - arduino-cli lib install "MAVLink"@2.0.16 + arduino-cli lib install "MAVLink"@2.0.25 touch .dependencies +upload_proxy: .dependencies + arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy + arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy + gazebo/build cmake: gazebo/CMakeLists.txt mkdir -p gazebo/build cd gazebo/build && cmake .. diff --git a/README.md b/README.md index 4ddc0a5..c7da620 100644 --- a/README.md +++ b/README.md @@ -21,15 +21,13 @@ * Dedicated for education and research. * Made from general-purpose components. * Simple and clean source code in Arduino (<2k lines firmware). -* Control using USB gamepad, remote control or smartphone. -* Wi-Fi and MAVLink support. +* Communication using MAVLink protocol over Wi-Fi or ESP-NOW. +* Control with USB gamepad, remote control or smartphone. * Wireless command line interface and analyzing. * Precise simulation with Gazebo. -* Python library. +* Python library for scripting and automatic flights. * Textbook on flight control theory and practice ([in development](https://quadcopter.dev)). -* *Position control (using external camera) and autonomous flights¹*. - -*¹ — planned.* +* *Position control (planned)*. ## It actually flies @@ -55,7 +53,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code: Flix simulator -## Documentation +## Documentation articles 1. [Assembly instructions](docs/assembly.md). 2. [Usage: build, setup and flight](docs/usage.md). @@ -73,14 +71,14 @@ Additional articles: |Type|Part|Image|Quantity| |-|-|:-:|:-:| -|Microcontroller board|ESP32 Mini||1| -|IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)
ICM20948V2 (ICM‑20948)³
GY-521 (MPU-6050)³⁻¹|

|1| +|Microcontroller board|ESP32 Mini.
ESP32-S3/ESP32-C3 boards are also supported.||1| +|IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)
ICM20948V2 (ICM‑20948)
GY-521 (MPU-6050)|

|1| |Boost converter (optional, for more stable power supply)|5V output||1| |Motor|8520 3.7V brushed motor.
Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).
Make sure the motor shaft diameter and propeller hole diameter match!||4| -|Propeller|55 mm (alternatively 65 mm)||4| +|Propeller|55 mm or 65 mm||4| |MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)||4| -|Pull-down resistor|10 kΩ||4| -|3.7V Li-Po battery|LW 952540 (or any compatible by the size)||1| +|Pull-down resistor
Voltage measurement resistor|10 kΩ||6| +|3.7V Li-Po battery|LW 952540 (or any compatible by the size).
Make sure the battery has enough discharge rate — 25C or more!||1| |Battery connector cable|MX2.0 2P female||1| |Li-Po Battery charger|Any||1| |Screws for IMU board mounting|M3x5||2| @@ -140,10 +138,10 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir |Motor|Position|Direction|Prop type|Motor wires|GPIO| |-|-|-|-|-|-| - |Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 (*TDI*)| - |Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 (*TCK*)| - |Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 (*TMS*)| - |Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 (*TD0*)| + |Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*| + |Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*| + |Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*| + |Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*| Clockwise motors have blue & red wires and correspond to propeller type A (marked on the propeller). Counter-clockwise motors have black & white wires correspond to propeller type B. @@ -154,14 +152,16 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir |-|-| |GND|GND| |VIN|VCC (or 3.3V depending on the receiver)| - |Signal (TX)|GPIO4¹| + |Signal (TX)|GPIO4| -*¹ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.* +* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32-S3). + + ESP32 and ESP32-S3 [can measure](https://docs.espressif.com/projects/arduino-esp32/en/latest/api/adc.html#analogsetattenuation) up to 3.1 V and ESP32-S3/ESP32-C3 can measure up to 2.5 V, so choose the voltage divider resistors accordingly. ## Resources * Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. -* Official Telegram chat: https://t.me/opensourcequadcopterchat. +* Official Telegram chat: https://t.me/opensourcequadcopterchat (English / Russian). * Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/. ## Disclaimer diff --git a/docs/assembly.md b/docs/assembly.md index 5f5d6d5..a332272 100644 --- a/docs/assembly.md +++ b/docs/assembly.md @@ -28,6 +28,8 @@ Soldered components ([schematics variant](https://miro.com/app/board/uXjVN-dTjoo +See an alternative assembly process photos here: https://drive.google.com/drive/folders/1FG5BH9RCzdf1XmJcC70PymiRMXcz6Fx7?usp=sharing. + ## Motor directions > [!WARNING] @@ -41,10 +43,10 @@ Motors connection table: |Motor|Position|Direction|Prop type|Motor wires|GPIO| |-|-|-|-|-|-| -|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 (*TDI*)| -|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 (*TCK*)| -|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 (*TMS*)| -|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 (*TD0*)| +|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*| +|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*| +|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*| +|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*| ## Motors tightening diff --git a/docs/book/geometry.md b/docs/book/geometry.md index 3523725..65df08d 100644 --- a/docs/book/geometry.md +++ b/docs/book/geometry.md @@ -110,7 +110,7 @@ float angle = Vector::angleBetween(a, b); // 1.57 (90 градусов) #### Скалярное произведение -Скалярное произведение векторов (*dot product*) — это произведение длин двух векторов на косинус угла между ними. В математике оно обозначается знаком `·` или слитным написанием векторов. Интуитивно, результат скалярного произведения показывает, насколько два вектора *сонаправлены*. +Скалярное произведение векторов *(dot product)* — это произведение длин двух векторов на косинус угла между ними. В математике оно обозначается знаком `·` или слитным написанием векторов. Интуитивно, результат скалярного произведения показывает, насколько два вектора *сонаправлены*. В Flix используется статический метод `Vector::dot()`: @@ -124,7 +124,7 @@ float dotProduct = Vector::dot(a, b); // 32 #### Векторное произведение -Векторное произведение (*cross product*) позволяет найти вектор, перпендикулярный двум другим векторам. В математике оно обозначается знаком `×`, а в прошивке используется статический метод `Vector::cross()`: +Векторное произведение *(cross product)* позволяет найти вектор, перпендикулярный двум другим векторам. В математике оно обозначается знаком `×`, а в прошивке используется статический метод `Vector::cross()`: ```cpp Vector a(1, 2, 3); @@ -144,9 +144,9 @@ Vector crossProduct = Vector::cross(a, b); // -3, 6, -3 В прошивке углы Эйлера сохраняются в обычный объект `Vector` (хоть и, строго говоря, не являются вектором): -* Угол по крену (*roll*) — `vector.x`. -* Угол по тангажу (*pitch*) — `vector.y`. -* Угол по рысканию (*yaw*) — `vector.z`. +* Угол по крену *(roll)* — `vector.x`. +* Угол по тангажу *(pitch)* — `vector.y`. +* Угол по рысканию *(yaw)* — `vector.z`. Особенности углов Эйлера: @@ -162,8 +162,8 @@ Vector crossProduct = Vector::cross(a, b); // -3, 6, -3 Помимо углов Эйлера, любую ориентацию в трехмерном пространстве можно представить в виде вращения вокруг некоторой оси на некоторый угол. В геометрии это доказывается, как **теорема вращения Эйлера**. В таком представлении ориентация задается двумя величинами: -* **Ось вращения** (*axis*) — единичный вектор, определяющий ось вращения. -* **Угол поворота** (*angle* или *θ*) — угол, на который нужно повернуть объект вокруг этой оси. +* **Ось вращения** *(axis)* — единичный вектор, определяющий ось вращения. +* **Угол поворота** *(angle* или *θ)* — угол, на который нужно повернуть объект вокруг этой оси. В Flix ось вращения задается объектом `Vector`, а угол поворота — числом типа `float` в радианах: @@ -177,7 +177,7 @@ float angle = radians(45); ### Вектор вращения -Если умножить вектор *axis* на угол поворота *θ*, то получится **вектор вращения** (*rotation vector*). Этот вектор играет важную роль в алгоритмах управления ориентацией летательного аппарата. +Если умножить вектор *axis* на угол поворота *θ*, то получится **вектор вращения** *(rotation vector)*. Этот вектор играет важную роль в алгоритмах управления ориентацией летательного аппарата. Вектор вращения обладает замечательным свойством: если угловые скорости объекта (в собственной системе координат) в каждый момент времени совпадают с компонентами этого вектора, то за единичное время объект придет к заданной этим вектором ориентации. Это свойство позволяет использовать вектор вращения для управления ориентацией объекта посредством управления угловыми скоростями. @@ -198,7 +198,7 @@ Vector rotation = radians(45) * Vector(1, 2, 3); quaternion.h.
-Вектор вращения удобен, но еще удобнее использовать **кватернион**. В Flix кватернионы задаются объектами `Quaternion` из библиотеки `quaternion.h`. Кватернион состоит из четырех значений: *w*, *x*, *y*, *z* и рассчитывается из вектора оси вращения (*axis*) и угла поворота (*θ*) по формуле: +Вектор вращения удобен, но еще удобнее использовать **кватернион**. В Flix кватернионы задаются объектами `Quaternion` из библиотеки `quaternion.h`. Кватернион состоит из четырех значений: *w*, *x*, *y*, *z* и рассчитывается из вектора оси вращения *(axis)* и угла поворота *(θ)* по формуле: \\[ q = \left( \begin{array}{c} w \\\\ x \\\\ y \\\\ z \end{array} \right) = \left( \begin{array}{c} \cos\left(\frac{\theta}{2}\right) \\\\ axis\_x \cdot \sin\left(\frac{\theta}{2}\right) \\\\ axis\_y \cdot \sin\left(\frac{\theta}{2}\right) \\\\ axis\_z \cdot \sin\left(\frac{\theta}{2}\right) \end{array} \right) \\] diff --git a/docs/book/gyro.md b/docs/book/gyro.md index 2127891..e5dc223 100644 --- a/docs/book/gyro.md +++ b/docs/book/gyro.md @@ -87,13 +87,13 @@ Flix поддерживает следующие модели IMU: #include #include -MPU9250 IMU(SPI); +MPU9250 imu(SPI); void setup() { Serial.begin(115200); - bool success = IMU.begin(); + bool success = imu.begin(); if (!success) { - Serial.println("Failed to initialize IMU"); + Serial.println("Failed to initialize the IMU"); } } ``` @@ -108,21 +108,21 @@ void setup() { #include #include -MPU9250 IMU(SPI); +MPU9250 imu(SPI); void setup() { Serial.begin(115200); - bool success = IMU.begin(); + bool success = imu.begin(); if (!success) { - Serial.println("Failed to initialize IMU"); + Serial.println("Failed to initialize the IMU"); } } void loop() { - IMU.waitForData(); + imu.waitForData(); float gx, gy, gz; - IMU.getGyro(gx, gy, gz); + imu.getGyro(gx, gy, gz); Serial.printf("gx:%f gy:%f gz:%f\n", gx, gy, gz); delay(50); // замедление вывода @@ -135,36 +135,36 @@ void loop() { ## Конфигурация гироскопа -В коде Flix настройка IMU происходит в функции `configureIMU`. В этой функции настраиваются три основных параметра гироскопа: диапазон измерений, частота сэмплов и частота LPF-фильтра. +В коде Flix настройка IMU происходит в функции `configureIMU`. В этой функции настраиваются три основных параметра гироскопа: диапазон измерений, частота сэмплирования и частота LPF-фильтра. -### Частота сэмплов +### Частота сэмплирования -Большинство IMU могут обновлять данные с разной частотой. В полетных контроллерах обычно используется частота обновления от 500 Гц до 8 кГц. Чем выше частота сэмплов, тем выше точность управления полетом, но и больше нагрузка на микроконтроллер. +Большинство IMU могут обновлять данные с разной частотой. В полетных контроллерах обычно используется частота обновления от 500 Гц до 8 кГц. Чем выше частота, тем выше точность управления полетом, но и тем больше нагрузка на микроконтроллер. -Частота сэмплов устанавливается методом `setSampleRate()`. В Flix используется частота 1 кГц: +Частота сэмплирования устанавливается методом `setSampleRate()`. В Flix используется частота 1 кГц: ```cpp IMU.setRate(IMU.RATE_1KHZ_APPROX); ``` -Поскольку не все поддерживаемые IMU могут работать строго на частоте 1 кГц, в библиотеке FlixPeriph существует возможность приближенной настройки частоты сэмплов. Например, у IMU ICM-20948 при такой настройке реальная частота сэмплирования будет равна 1125 Гц. +Поскольку не все поддерживаемые IMU могут работать строго на частоте 1 кГц, в библиотеке FlixPeriph существует возможность приближенной настройки частоты сэмплирования. Например, у IMU ICM-20948 при такой настройке реальная частота сэмплирования будет равна 1125 Гц. Другие доступные для установки в библиотеке FlixPeriph частоты сэмплирования: -* `RATE_MIN` — минимальная частота сэмплов для конкретного IMU. +* `RATE_MIN` — минимальная частота для конкретного IMU. * `RATE_50HZ_APPROX` — значение, близкое к 50 Гц. * `RATE_1KHZ_APPROX` — значение, близкое к 1 кГц. * `RATE_8KHZ_APPROX` — значение, близкое к 8 кГц. -* `RATE_MAX` — максимальная частота сэмплов для конкретного IMU. +* `RATE_MAX` — максимальная частота для конкретного IMU. #### Диапазон измерений -Большинство MEMS-гироскопов поддерживают несколько диапазонов измерений угловой скорости. Главное преимущество выбора меньшего диапазона — бо́льшая чувствительность. В полетных контроллерах обычно выбирается максимальный диапазон измерений от –2000 до 2000 градусов в секунду, чтобы обеспечить возможность динамичных маневров. +Большинство MEMS-гироскопов поддерживают несколько диапазонов измерений угловой скорости. Главное преимущество выбора меньшего диапазона — бо́льшая чувствительность. В полетных контроллерах обычно выбирается максимальный диапазон измерений от –2000 до 2000 градусов в секунду, чтобы обеспечить возможность быстрых маневров. В библиотеке FlixPeriph диапазон измерений гироскопа устанавливается методом `setGyroRange()`: ```cpp -IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS); +imu.setGyroRange(imu.GYRO_RANGE_2000DPS); ``` ### LPF-фильтр @@ -172,16 +172,16 @@ IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS); IMU InvenSense могут фильтровать измерения на аппаратном уровне при помощи фильтра нижних частот (LPF). Flix реализует собственный фильтр для гироскопа, чтобы иметь больше гибкости при поддержке разных IMU. Поэтому для встроенного LPF устанавливается максимальная частота среза: ```cpp -IMU.setDLPF(IMU.DLPF_MAX); +imu.setDLPF(imu.DLPF_MAX); ``` ## Калибровка гироскопа -Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения (*bias*) и случайный шум (*noise*): +Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения *(bias)* и случайный шум *(noise)*: \\[ gyro_{xyz}=rates_{xyz}+bias_{xyz}+noise \\] -Для качественной работы подсистемы оценки ориентации и управления дроном необходимо оценить *bias* гироскопа и учесть его в вычислениях. Для этого при запуске программы производится калибровка гироскопа, которая реализована в функции `calibrateGyro()`. Эта функция считывает данные с гироскопа в состоянии покоя 1000 раз и усредняет их. Полученные значения считаются *bias* гироскопа и в дальнейшем вычитаются из измерений. +Для точной работы подсистемы оценки ориентации и управления дроном необходимо оценить *bias* гироскопа и учесть его в вычислениях. Для этого при запуске программы производится калибровка гироскопа, которая реализована в функции `calibrateGyro()`. Эта функция считывает данные с гироскопа в состоянии покоя 1000 раз и усредняет их. Полученные значения считаются *bias* гироскопа и в дальнейшем вычитаются из измерений. Программа для вывода данных с гироскопа с калибровкой: @@ -189,23 +189,23 @@ IMU.setDLPF(IMU.DLPF_MAX); #include #include -MPU9250 IMU(SPI); +MPU9250 imu(SPI); float gyroBiasX, gyroBiasY, gyroBiasZ; // bias гироскопа void setup() { Serial.begin(115200); - bool success = IMU.begin(); + bool success = imu.begin(); if (!success) { - Serial.println("Failed to initialize IMU"); + Serial.println("Failed to initialize the IMU"); } calibrateGyro(); } void loop() { float gx, gy, gz; - IMU.waitForData(); - IMU.getGyro(gx, gy, gz); + imu.waitForData(); + imu.getGyro(gx, gy, gz); // Устранение bias гироскопа gx -= gyroBiasX; @@ -226,9 +226,9 @@ void calibrateGyro() { // Получение 1000 измерений гироскопа for (int i = 0; i < samples; i++) { - IMU.waitForData(); + imu.waitForData(); float gx, gy, gz; - IMU.getGyro(gx, gy, gz); + imu.getGyro(gx, gy, gz); gyroBiasX += gx; gyroBiasY += gy; gyroBiasZ += gz; diff --git a/docs/firmware.md b/docs/firmware.md index c0b817c..9c3b8d2 100644 --- a/docs/firmware.md +++ b/docs/firmware.md @@ -42,7 +42,7 @@ Pilot inputs are interpreted in `interpretControls()`, and then converted to the * `attitudeTarget` *(Quaternion)* — target attitude of the drone. * `ratesTarget` *(Vector)* — target angular rates, *rad/s*. -* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates , used for yaw rate control in STAB mode, *rad/s*. +* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates, used for yaw rate control in STAB mode, *rad/s*. * `torqueTarget` *(Vector)* — target torque, range [-1, 1]. * `thrustTarget` *(float)* — collective motor thrust target, range [0, 1]. @@ -67,6 +67,35 @@ In order to add a console command, modify the `doCommand()` function in `cli.ino > > For on-the-ground commands, use `pause()` function, instead of `delay()`. This function allows to pause in a way that MAVLink connection will continue working. +### Parameter subsystem + +Parameters subsystem (`parameters.ino`) uses standard [Preferences.h](https://docs.espressif.com/projects/arduino-esp32/en/latest/tutorials/preferences.html) ESP32 library to store parameters in non-volatile memory. Each parameter is a regular global variable, which is registered in the `parameters` array. + +To add a new parameter: + +1. Define a global variable for the parameter, two types are supported: `float` and `int`. +2. Add an entry to the `parameters` array, with the parameter name, a pointer to the variable, and optionally a callback function to call when the parameter is changed. +3. Everything else will be handled automatically. + +See examples of adding new parameters in commits: [c434107](https://github.com/okalachev/flix/commit/c434107), [a687303](https://github.com/okalachev/flix/commit/a687303). + +## Adding a subsystem + +To add a new subsystem: + +1. Create a new `*.ino` file for your subsystem. +2. Define setup and loop functions for the subsystem, for example `setupMySubsystem()` and `loopMySubsystem()`. +3. Use `Rate` class if you need to limit the loop frequency, for example: + + ```cpp + Rate mySubsystemRate(100); // 100 Hz + + void loopMySubsystem() { + if (!mySubsystemRate) return; + // Do something... + } +4. Add setup and loop calls in to `setup()` and `loop()` functions in `flix.ino`. + ## Building the firmware See build instructions in [usage.md](usage.md). diff --git a/docs/img/espnow-connection.jpg b/docs/img/espnow-connection.jpg new file mode 100644 index 0000000..fdd6a0e Binary files /dev/null and b/docs/img/espnow-connection.jpg differ diff --git a/docs/img/flix1.5.jpg b/docs/img/flix1.5.jpg new file mode 100644 index 0000000..b80c7ab Binary files /dev/null and b/docs/img/flix1.5.jpg differ diff --git a/docs/img/imu-axes.png b/docs/img/imu-axes.png index 003f03a..276c75c 100644 Binary files a/docs/img/imu-axes.png and b/docs/img/imu-axes.png differ diff --git a/docs/img/user/arkymatsekh/1.jpg b/docs/img/user/arkymatsekh/1.jpg new file mode 100644 index 0000000..37be763 Binary files /dev/null and b/docs/img/user/arkymatsekh/1.jpg differ diff --git a/docs/img/user/arkymatsekh/2.jpg b/docs/img/user/arkymatsekh/2.jpg new file mode 100644 index 0000000..04865f0 Binary files /dev/null and b/docs/img/user/arkymatsekh/2.jpg differ diff --git a/docs/img/user/arkymatsekh/3.jpg b/docs/img/user/arkymatsekh/3.jpg new file mode 100644 index 0000000..5f6e0e1 Binary files /dev/null and b/docs/img/user/arkymatsekh/3.jpg differ diff --git a/docs/img/user/arkymatsekh/video.jpg b/docs/img/user/arkymatsekh/video.jpg new file mode 100644 index 0000000..fd360e3 Binary files /dev/null and b/docs/img/user/arkymatsekh/video.jpg differ diff --git a/docs/img/user/fanby0ru/1.jpg b/docs/img/user/fanby0ru/1.jpg new file mode 100644 index 0000000..3c53579 Binary files /dev/null and b/docs/img/user/fanby0ru/1.jpg differ diff --git a/docs/img/user/fanby0ru/2.jpg b/docs/img/user/fanby0ru/2.jpg new file mode 100644 index 0000000..9eb4935 Binary files /dev/null and b/docs/img/user/fanby0ru/2.jpg differ diff --git a/docs/img/user/ina_tix/1.jpg b/docs/img/user/ina_tix/1.jpg new file mode 100644 index 0000000..940e476 Binary files /dev/null and b/docs/img/user/ina_tix/1.jpg differ diff --git a/docs/img/user/ina_tix/2.jpg b/docs/img/user/ina_tix/2.jpg new file mode 100644 index 0000000..941b84e Binary files /dev/null and b/docs/img/user/ina_tix/2.jpg differ diff --git a/docs/img/user/ina_tix/3.jpg b/docs/img/user/ina_tix/3.jpg new file mode 100644 index 0000000..421a211 Binary files /dev/null and b/docs/img/user/ina_tix/3.jpg differ diff --git a/docs/img/user/phalko/1.jpg b/docs/img/user/phalko/1.jpg new file mode 100644 index 0000000..34d7162 Binary files /dev/null and b/docs/img/user/phalko/1.jpg differ diff --git a/docs/img/user/phalko/2.jpg b/docs/img/user/phalko/2.jpg new file mode 100644 index 0000000..4651fec Binary files /dev/null and b/docs/img/user/phalko/2.jpg differ diff --git a/docs/img/user/phalko/3.jpg b/docs/img/user/phalko/3.jpg new file mode 100644 index 0000000..b0717a2 Binary files /dev/null and b/docs/img/user/phalko/3.jpg differ diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 94ce53c..8f06718 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -12,20 +12,25 @@ Do the following: Do the following: -* **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V. -* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output. +* **Check the battery voltage**. Use a multimeter to measure the battery voltage. The fully charged battery should have about 4.2V. +* **Check the battery you use has enough discharge current**. The battery should be able to provide 15A of current. So the C-rating for a 1000 mAh battery should be at least 15C (higher is better). +* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button or `reboot` command to see the whole startup output. * **Check the baudrate is correct**. If you see garbage characters in the Serial Monitor, make sure the baudrate is set to 115200. -* **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file. -* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the CLI using QGroundControl (*Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*). +* **Check if the console is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the console using QGroundControl *(Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console)*. * **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**. * **If QGroundControl doesn't connect**, you might need to disable the firewall and/or VPN on your computer. +* **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file. * **Check the IMU is working**. Perform `imu` command and check its output: * The `status` field should be `OK`. * The `rate` field should be about 1000 (Hz). * The `accel` and `gyro` fields should change as you move the drone. -* **Calibrate the accelerometer.** if is wasn't done before. Type `ca` command in Serial Monitor and follow the instructions. -* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct. * **Check the IMU orientation is set correctly**. If the attitude estimation is rotated, set the correct IMU orientation as described in the [tutorial](usage.md#define-imu-orientation). +* **Calibrate the accelerometer.** if is wasn't done before. Type `ca` command in Serial Monitor and follow the instructions. +* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation is shown exactly as on the video below: + + + +* **Check the IMU output**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement. * **Check the motors type**. Motors with exact 3.7V voltage are needed, not ranged working voltage (3.7V — 6V). * **Check the motors**. Perform the following commands using Serial Monitor: * `mfr` — should rotate front right motor (counter-clockwise). @@ -33,7 +38,10 @@ Do the following: * `mrl` — should rotate rear left motor (counter-clockwise). * `mrr` — should rotate rear right motor (clockwise). * **Check the propeller directions are correct**. Make sure your propeller types (A or B) are installed as on the picture: + -* **Check the remote control**. Using `rc` command, check the control values reflect your sticks movement. All the controls should change between -1 and 1, and throttle between 0 and 1. -* If using SBUS receiver, **calibrate the RC**. Type `cr` command in Serial Monitor and follow the instructions. -* **Check the IMU output using QGroundControl**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement. + +* **If using an SBUS receiver**: + * **Define the used GPIO pin** in `RC_RX_PIN` parameter. + * **Calibrate the RC** using `cr` command in the console. + * **Check the controls** using `rc` command. All the controls should change between -1 and 1, and the throttle between 0 and 1. diff --git a/docs/usage.md b/docs/usage.md index bfadfbf..5984a32 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -20,10 +20,10 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended). 2. *Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).* -3. Install ESP32 core, version 3.2.0. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE. +3. Install ESP32 core, version 3.3.6. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE. 4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library): * `FlixPeriph`, the latest version. - * `MAVLink`, version 2.0.16. + * `MAVLink`, version 2.0.25. 5. Open the `flix/flix.ino` sketch from downloaded firmware sources in Arduino IDE. 6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini) and the port. 7. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE. @@ -108,13 +108,13 @@ The drone is configured using parameters. To access and modify them, go to the Q -You can also work with parameters using `p` command in the console. +You can also work with parameters using `p` command in the console. Parameter names are case-insensitive. ### Define IMU orientation -Use parameters, to define the IMU board axes orientation relative to the drone's axes: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`. +The IMU orientation (relative to the drone's axes) is defined using the parameters: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`. -The drone has *X* axis pointing forward, *Y* axis pointing left, and *Z* axis pointing up, and the supported IMU boards have *X* axis pointing to the pins side and *Z* axis pointing up from the component side: +The drone has *X* axis pointing forward, *Y* axis pointing left, and *Z* axis pointing up, and the supported IMU boards have *X* axis pointing to the mounting holes side and *Z* axis pointing up from the component side: @@ -122,10 +122,10 @@ Use the following table to set the parameters for common IMU orientations: |Orientation|Parameters|Orientation|Parameters| |:-:|-|-|-| -||`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 0 ||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 0| -||`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 1.571||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = -1.571| -||`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 3.142||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 3.142| -|
☑️ **Default**|
`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = -1.571||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 1.571| +||`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 0 ||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 0| +||`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = -1.571||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = -1.571| +||`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 3.142||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 3.142| +|
☑️ **Default**|
`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 1.571||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 1.571| ### Calibrate accelerometer @@ -134,27 +134,52 @@ Before flight you need to calibrate the accelerometer: 1. Access the console using QGroundControl (recommended) or Serial Monitor. 2. Type `ca` command there and follow the instructions. -### Check everything works +### Setup motors -1. Check the IMU is working: perform `imu` command and check its output: +If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively). + +Certain ESP32 models (such as ESP32-S3 and ESP32-C3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz. + +If using brushless motors and ESCs: + +1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical). +2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical). + +> [!CAUTION] +> **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them. + +### Battery voltage monitoring + +ESP32 ADC can measure only up to 3.3 V, so you need to use a voltage divider to monitor the battery voltage. To enable voltage measurement, set the following parameters: + +1. `PWR_VOLT_PIN` — GPIO pin number where the voltage divider is connected (*-1* to disable). +2. `PWR_VOLT_SCALE` — voltage divider coefficient (*2* for two equal resistors). + +After this setup, you should see the battery voltage in QGroundControl top panel or using `pw` command in the console. + +### Important: check everything works + +1. Check the IMU is working: perform `imu` command in the console and check the output: * The `status` field should be `OK`. * The `rate` field should be about 1000 (Hz). * The `accel` and `gyro` fields should change as you move the drone. + * The `accel bias` and `accel scale` fields should contain calibration parameters (not zeros and ones). + * The `gyro bias` field should contain estimated gyro bias (not zeros). * The `landed` field should be `1` when the drone is still on the ground and `0` when you lift it up. -2. Check the attitude estimation: connect to the drone using QGroundControl, rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct. Attitude indicator in QGroundControl is shown below: +2. Check the attitude estimation: connect to the drone using QGroundControl, rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct. Compare your attitude indicator (in the *large vertical* mode) to the video: - + -3. Perform motor tests in the console. Use the following commands **— remove the propellers before running the tests!** +3. Perform motor tests. Use the following commands **— remove the propellers before running the tests!** - * `mfr` — should rotate front right motor (counter-clockwise). - * `mfl` — should rotate front left motor (clockwise). - * `mrl` — should rotate rear left motor (counter-clockwise). - * `mrr` — should rotate rear right motor (clockwise). + * `mfr` — rotate front right motor (counter-clockwise). + * `mfl` — rotate front left motor (clockwise). + * `mrl` — rotate rear left motor (counter-clockwise). + * `mrr` — rotate rear right motor (clockwise). - Rotation diagram: + Make sure rotation directions and propeller types match the following diagram: @@ -167,6 +192,18 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F ### Control with a smartphone +#### Using Mavlink Joystick app (Android) + + + +1. Download and install [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest). +2. Power the drone using the battery. +3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`). +4. Open Mavlink Joystick app. It should connect and begin showing the drone's telemetry automatically. +5. Use the virtual joystick to fly the drone! + +#### Using QGroundControl app + 1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone. 2. Power the drone using the battery. 3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`). @@ -179,11 +216,13 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F ### Control with a remote control -Before using remote SBUS-connected remote control, you need to calibrate it: +If using SBUS-connected remote control you need to enable SBUS and calibrate it: -1. Access the console using QGroundControl (recommended) or Serial Monitor. -2. Type `cr` command and follow the instructions. -3. Use the remote control to fly the drone! +1. Connect to the drone using QGroundControl. +2. In parameters, set the `RC_RX_PIN` parameter to the GPIO pin number where the SBUS signal is connected, for example: 4. Negative value disables SBUS. +3. Check if the receiver is working using `rc` command in the console. +4. Open the console, type `cr` command and follow the instructions to calibrate the remote control. +5. Use the remote control to fly the drone! ### Control with a USB remote control @@ -220,11 +259,11 @@ When finished flying, **disarm** the drone, moving the left stick to the bottom ### Flight modes -Flight mode is changed using mode switch on the remote control or using the command line. +Flight mode is changed using mode switch on the remote control (if configured) or using the console commands. The main flight mode is *STAB*. In order to change modes using SBUS remote control, set the parameters: `CTL_FLT_MODE_0`, `CTL_FLT_MODE_1`, and `CTL_FLT_MODE_2` to required mode numbers (0 for *RAW*, 1 for *ACRO*, 2 for *STAB*, 3 for *AUTO*). #### STAB -The default mode is *STAB*. In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles. +In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles. > [!IMPORTANT] > The drone doesn't stabilize its position, so slight drift is possible. The pilot should compensate it manually. @@ -239,13 +278,75 @@ In this mode, the pilot controls the angular rates. This control method is diffi #### AUTO -In this mode, the pilot inputs are ignored (except the mode switch, if configured). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed autonomous behavior. +In this mode, the pilot inputs are ignored (except the mode switch). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed behavior. -If the pilot moves the control sticks, the drone will switch back to *STAB* mode. +If the pilot moves the control sticks and mode switch is not configured, the drone will switch back to *STAB* mode. + +## Wi-Fi configuration + +You can configure the Wi-Fi using parameters and console commands. + +The Wi-Fi mode is chosen using `WIFI_MODE` parameter in QGroundControl or in the console: + +* `0` — Wi-Fi is disabled. +* `1` — Access Point mode *(AP)* — the drone creates a Wi-Fi network. +* `2` — Client mode *(STA)* — the drone connects to an existing Wi-Fi network (may cause additional delays, so generally not recommended). +* `3` — ESP-NOW mode — the drone uses ESP-NOW protocol for communication. + +The SSID and password are configured using the `ap` and `sta` console commands: + +``` +ap +sta +``` + +Example of configuring the Access Point mode: + +``` +ap my-flix-ssid mypassword123 +p WIFI_MODE 1 +``` + +Disabling Wi-Fi: + +``` +p WIFI_MODE 0 +``` + +### Using ESP-NOW + +[ESP-NOW](https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/network/esp_now.html) is a low level wireless communication protocol. It can provide lower latency, better reliability, and longer range than Wi-Fi. However, it requires a second ESP32 board to be used as a proxy for the computer. + + + +To setup ESP-NOW communication: + +1. Flash the second ESP32 board with ESP-NOW proxy sketch: [`tools/espnow-proxy/espnow-proxy.ino`](../tools/espnow-proxy/espnow-proxy.ino). Use Arduino IDE or command line: `make upload_proxy`. + +2. Open Serial Monitor or use `make monitor` command. The ESP32 will print its MAC address and generated encryption key, for example: + + ``` + espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E + ``` + + Run this line as a console command on each drone you want to bind to this proxy board. + +3. Set the `WIFI_MODE` parameter to `3` on the drone: + + ``` + p WIFI_MODE 3 + ``` + +4. Go to the QGroundControl menu ⇒ *Application Settings* ⇒ *Comm Links*, add new link with the following settings: + * Name: ESP32. + * Type: Serial. + * Serial Port: choose the port of the proxy ESP32 board, e. g. `/dev/cu.usbserial-0001`. + * Baud Rate: 115200. +5. Click *Save*. QGroundControl should connect to the drone using ESP-NOW and begin showing the telemetry. ## Flight log -After the flight, you can download the flight log for analysis wirelessly. Use the following for that: +After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that: ```bash make log diff --git a/docs/user.md b/docs/user.md index 9f56d51..280c9ea 100644 --- a/docs/user.md +++ b/docs/user.md @@ -4,6 +4,49 @@ This page contains user-built drones based on the Flix project. Publish your pro --- +Author: [Ina Tix](https://t.me/ina_tix).
+Description: XR2981 based DC-DC converter, ELRS MINI 2.4GHz RX SX1280 receiver (SBUS interface), Radiomaster TX12 remote control.
+[Flight validation](https://drive.google.com/file/d/1yqkKNuz4R_yxGqUNQxVpixJbXqEEcUSj/view?usp=share_link). + + + +--- + +Author: Oleg Kalachev.
+Description: the first attempt on making an official PCB based Flix drone (Flix2 board). The IMU is not working on this version, so an external MPU-6050 board was used, therefore considered as **Flix version 1.5**.
+[Flight video](https://drive.google.com/file/d/1R7tuUsFmPY0CGcOCFfMFaCp9kR49K3bl/view?usp=sharing). + + + +--- + +Author: [FanBy0ru](https://https://github.com/FanBy0ru).
+Description: custom 3D-printed frame.
+Frame STLs and flight validation: https://cults3d.com/en/3d-model/gadget/armature-pour-flix-drone. + + + +--- + +Author: Ivan44 Phalko.
+Description: custom PCB, cusom test bench.
+[Flight validation](https://drive.google.com/file/d/17DNDJ1gPmCmDRAwjedCbJ9RXAyqMqqcX/view?usp=sharing). + + + +--- + +Author: **Arkadiy "Arky" Matsekh**, Foucault Dynamics, Gold Coast, Australia.
+The drone was built for the University of Queensland industry-led Master's capstone project. + +**Flight video:** + + + + + +--- + Author: [goldarte](https://t.me/goldarte).
diff --git a/flix/cli.cpp b/flix/cli.cpp index 17f5808..9c7b6d2 100644 --- a/flix/cli.cpp +++ b/flix/cli.cpp @@ -8,23 +8,28 @@ #include "pid.h" #include "vector.h" #include "util.h" +#include "lpf.h" extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int RAW, ACRO, STAB, AUTO; +extern const int W_AP, W_STA, W_ESPNOW; extern float t, dt, loopRate; extern uint16_t channels[16]; extern float controlTime; extern int mode; extern bool armed; +extern LowPassFilter gyroBiasFilter; +extern float voltage; const char* motd = -"\nWelcome to\n" " _______ __ __ ___ ___\n" "| ____|| | | | \\ \\ / /\n" "| |__ | | | | \\ V /\n" "| __| | | | | > <\n" "| | | `----.| | / . \\\n" "|__| |_______||__| /__/ \\__\\\n\n" +"(C) Oleg Kalachev\n" +"https://github.com/okalachev/flix\n\n" "Commands:\n\n" "help - show help\n" "p - show all parameters\n" @@ -39,7 +44,11 @@ const char* motd = "disarm - disarm the drone\n" "raw/stab/acro/auto - set mode\n" "rc - show RC data\n" +"pw - show power info\n" "wifi - show Wi-Fi info\n" +"ap - setup Wi-Fi access point\n" +"sta - setup Wi-Fi client mode\n" +"espnow [] - setup ESP-NOW peer\n" "mot - show motor output\n" "log [dump] - print log header [and data]\n" "cr - calibrate RC\n" @@ -56,9 +65,7 @@ void print(const char* format, ...) { vsnprintf(buf, sizeof(buf), format, args); va_end(args); Serial.print(buf); -#if WIFI_ENABLED mavlinkPrint(buf); -#endif } void pause(float duration) { @@ -66,9 +73,7 @@ void pause(float duration) { while (t - start < duration) { step(); handleInput(); -#if WIFI_ENABLED processMavlink(); -#endif delay(50); } } @@ -96,7 +101,7 @@ void doCommand(String str, bool echo) { } else if (command == "p") { bool success = setParameter(arg0.c_str(), arg1.toFloat()); if (success) { - print("%s = %g\n", arg0.c_str(), arg1.toFloat()); + print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str())); } else { print("Parameter not found: %s\n", arg0.c_str()); } @@ -137,10 +142,16 @@ void doCommand(String str, bool echo) { print("time: %.1f\n", controlTime); print("mode: %s\n", getModeName()); print("armed: %d\n", armed); + } else if (command == "pw") { + print("Voltage: %.1f V\n", voltage); } else if (command == "wifi") { -#if WIFI_ENABLED printWiFiInfo(); -#endif + } else if (command == "ap") { + configWiFi(W_AP, arg0.c_str(), arg1.c_str()); + } else if (command == "sta") { + configWiFi(W_STA, arg0.c_str(), arg1.c_str()); + } else if (command == "espnow") { + configWiFi(W_ESPNOW, arg0.c_str(), arg1.c_str()); } else if (command == "mot") { print("front-right %g front-left %g rear-right %g rear-left %g\n", motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]); @@ -164,6 +175,7 @@ void doCommand(String str, bool echo) { print("Chip: %s\n", ESP.getChipModel()); print("Temperature: %.1f °C\n", temperatureRead()); print("Free heap: %d\n", ESP.getFreeHeap()); + print("Firmware: " __DATE__ " " __TIME__ "\n"); // Print tasks table print("Num Task Stack Prio Core CPU%%\n"); int taskCount = uxTaskGetNumberOfTasks(); @@ -174,12 +186,13 @@ void doCommand(String str, bool echo) { String core = systemState[i].xCoreID == tskNO_AFFINITY ? "*" : String(systemState[i].xCoreID); int cpuPercentage = systemState[i].ulRunTimeCounter / (totalRunTime / 100); print("%-5d%-20s%-7d%-6d%-6s%d\n",systemState[i].xTaskNumber, systemState[i].pcTaskName, - systemState[i].usStackHighWaterMark, systemState[i].uxCurrentPriority, core, cpuPercentage); + systemState[i].usStackHighWaterMark, systemState[i].uxCurrentPriority, core.c_str(), cpuPercentage); } delete[] systemState; #endif } else if (command == "reset") { attitude = Quaternion(); + gyroBiasFilter.reset(); } else if (command == "reboot") { ESP.restart(); } else { diff --git a/flix/control.cpp b/flix/control.cpp index 9d6c097..4cd729b 100644 --- a/flix/control.cpp +++ b/flix/control.cpp @@ -30,6 +30,7 @@ PID pitchPID(PITCH_P, PITCH_I, PITCH_D); PID yawPID(YAW_P, 0, 0); Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX); float tiltMax = TILT_MAX; +int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; @@ -43,9 +44,9 @@ void control() { } void interpretControls() { - if (controlMode < 0.25) mode = STAB; - if (controlMode < 0.75) mode = STAB; - if (controlMode > 0.75) mode = STAB; + if (controlMode < 0.25) mode = flightModes[0]; + else if (controlMode <= 0.75) mode = flightModes[1]; + else if (controlMode > 0.75) mode = flightModes[2]; if (mode == AUTO) return; // pilot is not effective in AUTO mode @@ -126,12 +127,25 @@ void controlTorque() { motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z; motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z; + desaturate(motors[MOTOR_FRONT_LEFT], motors[MOTOR_FRONT_RIGHT], motors[MOTOR_REAR_LEFT], motors[MOTOR_REAR_RIGHT]); + motors[0] = constrain(motors[0], 0, 1); motors[1] = constrain(motors[1], 0, 1); motors[2] = constrain(motors[2], 0, 1); motors[3] = constrain(motors[3], 0, 1); } +void desaturate(float& a, float& b, float& c, float& d) { + float maxThrust = max(max(a, b), max(c, d)); + if (maxThrust > 1) { + float diff = maxThrust - 1; + a -= diff; + b -= diff; + c -= diff; + d -= diff; + } +} + const char* getModeName() { switch (mode) { case RAW: return "RAW"; diff --git a/flix/estimate.cpp b/flix/estimate.cpp index 01303a3..ad75bb9 100644 --- a/flix/estimate.cpp +++ b/flix/estimate.cpp @@ -1,7 +1,7 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// Attitude estimation from gyro and accelerometer +// Attitude estimation using gyro and accelerometer #include "config.h" #include "flix.h" @@ -15,11 +15,13 @@ Quaternion attitude; // estimated attitude bool landed; float accWeight = 0.003; +float levelWeight = 0.0002; LowPassFilter ratesFilter(0.2); // cutoff frequency ~ 40 Hz void estimate() { applyGyro(); applyAcc(); + applyLevel(); } void applyGyro() { @@ -44,3 +46,12 @@ void applyAcc() { // apply correction attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction)); } + +void applyLevel() { + if (landed) return; + + // assume the pilot keeps the drone more or less level in flight + Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude); + Vector correction = Vector::rotationVectorBetween(Vector(0, 0, 1), up) * levelWeight; + attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction)); +} diff --git a/flix/flix.h b/flix/flix.h index dd1e5de..83aad91 100644 --- a/flix/flix.h +++ b/flix/flix.h @@ -32,10 +32,12 @@ void interpretControls(); void controlAttitude(); void controlRates(); void controlTorque(); +void desaturate(float& a, float& b, float& c, float& d); const char *getModeName(); void estimate(); void applyGyro(); void applyAcc(); +void applyLevel(); void setupIMU(); void configureIMU(); void readIMU(); @@ -56,6 +58,8 @@ void processMavlink(); void sendMavlink(); void sendMessage(const void *msg); void receiveMavlink(); +void printWiFiInfo(); +void configWiFi(int mode, const char *first, const char *second); void handleMavlink(const void *_msg); void mavlinkPrint(const char* str); void sendMavlinkPrint(); @@ -77,8 +81,9 @@ void setupRC(); bool readRC(); void normalizeRC(); void calibrateRC(); -void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const char *str); +void calibrateRCChannel(int *channel, uint16_t in[16], uint16_t out[16], const char *str); void printRCCalibration(); +void setupPower(); void failsafe(); void rcLossFailsafe(); void descend(); diff --git a/flix/flix.ino b/flix/flix.ino index d65864b..5d2ac62 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -12,14 +12,12 @@ void setup() { Serial.begin(115200); print("Initializing flix\n"); - disableBrownOut(); setupParameters(); + setupPower(); setupLED(); - setupMotors(); setLED(true); -#if WIFI_ENABLED + setupMotors(); setupWiFi(); -#endif setupIMU(); setupRC(); setLED(false); @@ -34,9 +32,8 @@ void loop() { control(); sendMotors(); handleInput(); -#if WIFI_ENABLED processMavlink(); -#endif + readVoltage(); logData(); syncParameters(); } diff --git a/flix/imu.cpp b/flix/imu.cpp index 22cf3e3..136412e 100644 --- a/flix/imu.cpp +++ b/flix/imu.cpp @@ -10,7 +10,7 @@ #include "util.h" MPU9250 imu(SPI); -Vector imuRotation(0, 0, -PI / 2); // imu orientation as Euler angles +Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles Vector gyro; // gyroscope output, rad/s Vector gyroBias; @@ -19,6 +19,8 @@ Vector acc; // accelerometer output, m/s/s Vector accBias; Vector accScale(1, 1, 1); +LowPassFilter gyroBiasFilter(0.001); + void setupIMU() { print("Setup IMU\n"); imu.begin(); @@ -50,8 +52,6 @@ void readIMU() { void calibrateGyroOnce() { static Delay landedDelay(2); if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary - - static LowPassFilter gyroBiasFilter(0.001); gyroBias = gyroBiasFilter.update(gyro); } @@ -121,7 +121,7 @@ void printIMUInfo() { print("model: %s\n", imu.getModel()); print("who am I: 0x%02X\n", imu.whoAmI()); print("rate: %.0f\n", loopRate); - print("gyro: %f %f %f\n", rates.x, rates.y, rates.z); + print("gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z); print("acc: %f %f %f\n", acc.x, acc.y, acc.z); imu.waitForData(); Vector rawGyro, rawAcc; diff --git a/flix/lpf.h b/flix/lpf.h index b384a04..3f61023 100644 --- a/flix/lpf.h +++ b/flix/lpf.h @@ -16,15 +16,10 @@ public: LowPassFilter(float alpha): alpha(alpha) {}; T update(const T input) { - if (alpha == 1) { // filter disabled - return input; + if (!init) { + init = true; + return output = input; } - - if (!initialized) { - output = input; - initialized = true; - } - return output += alpha * (input - output); } @@ -33,9 +28,9 @@ public: } void reset() { - initialized = false; + init = false; } private: - bool initialized = false; + bool init = false; }; diff --git a/flix/mavlink.cpp b/flix/mavlink.cpp index 8ec5564..0803e14 100644 --- a/flix/mavlink.cpp +++ b/flix/mavlink.cpp @@ -4,21 +4,18 @@ // MAVLink communication #include -#include "config.h" -#include "flix.h" - -#if WIFI_ENABLED - #include +#include "config.h" #include "util.h" -#define SYSTEM_ID 1 -#define MAVLINK_RATE_SLOW 1 -#define MAVLINK_RATE_FAST 10 - -extern const int AUTO, STAB; -extern uint16_t channels[16]; +extern const int RAW, ACRO, STAB, AUTO; extern float controlTime; +extern float voltage; +extern uint16_t channels[16]; + +int mavlinkSysId = 1; +Rate telemetryFast(10); +Rate telemetrySlow(2); bool mavlinkConnected = false; String mavlinkPrintBuffer; @@ -34,10 +31,8 @@ void sendMavlink() { mavlink_message_t msg; uint32_t time = t * 1000; - static Rate slow(MAVLINK_RATE_SLOW), fast(MAVLINK_RATE_FAST); - - if (slow) { - mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC, + if (telemetrySlow) { + mavlink_msg_heartbeat_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC, (armed ? MAV_MODE_FLAG_SAFETY_ARMED : 0) | ((mode == STAB) ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0) | ((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED), @@ -46,28 +41,35 @@ void sendMavlink() { if (!mavlinkConnected) return; // send only heartbeat until connected - mavlink_msg_extended_sys_state_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_extended_sys_state_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR); sendMessage(&msg); + + uint16_t voltages[] = {voltage * 1000, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX}; + uint16_t voltagesExt[] = {0, 0, 0, 0}; + float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1); + mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL, + MAV_BATTERY_TYPE_LIPO, INT16_MAX, voltages, -1, -1, -1, remaining * 100, 0, MAV_BATTERY_CHARGE_STATE_OK, voltagesExt, 0, 0); + if (valid(voltage)) sendMessage(&msg); } - if (fast && mavlinkConnected) { - const float zeroQuat[] = {0, 0, 0, 0}; - mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, - time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, zeroQuat); // convert to frd + if (telemetryFast && mavlinkConnected) { + const float offset[] = {0, 0, 0, 0}; + mavlink_msg_attitude_quaternion_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, + time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, offset); // convert to frd sendMessage(&msg); - mavlink_msg_rc_channels_raw_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0, + mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0, channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX); if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input float controls[8]; memcpy(controls, motors, sizeof(motors)); - mavlink_msg_actuator_control_target_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls); + mavlink_msg_actuator_control_target_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls); sendMessage(&msg); - mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, - acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd + mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, + acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000, 0, 0, 0, 0); sendMessage(&msg); @@ -101,7 +103,7 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) { mavlink_manual_control_t m; mavlink_msg_manual_control_decode(&msg, &m); - if (m.target && m.target != SYSTEM_ID) return; // 0 is broadcast + if (m.target && m.target != mavlinkSysId) return; // 0 is broadcast controlThrottle = m.z / 1000.0f; controlPitch = m.x / 1000.0f; @@ -114,11 +116,11 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) { mavlink_param_request_list_t m; mavlink_msg_param_request_list_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; mavlink_message_t msg; for (int i = 0; i < parametersCount(); i++) { - mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, getParameterName(i), getParameter(i), MAV_PARAM_TYPE_REAL32, parametersCount(), i); sendMessage(&msg); } @@ -127,7 +129,7 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_READ) { mavlink_param_request_read_t m; mavlink_msg_param_request_read_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; char name[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1]; strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated @@ -136,7 +138,7 @@ void handleMavlink(const void *_msg) { memcpy(name, getParameterName(m.param_index), 16); } mavlink_message_t msg; - mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, name, value, MAV_PARAM_TYPE_REAL32, parametersCount(), m.param_index); sendMessage(&msg); } @@ -144,32 +146,33 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_PARAM_SET) { mavlink_param_set_t m; mavlink_msg_param_set_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; char name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1]; strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated - setParameter(name, m.param_value); + bool success = setParameter(name, m.param_value); + if (!success) return; // send ack mavlink_message_t msg; - mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, - m.param_id, m.param_value, MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown + mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, + m.param_id, getParameter(name), MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown sendMessage(&msg); } if (msg.msgid == MAVLINK_MSG_ID_MISSION_REQUEST_LIST) { // handle to make qgc happy mavlink_mission_request_list_t m; mavlink_msg_mission_request_list_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; mavlink_message_t msg; - mavlink_msg_mission_count_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0); + mavlink_msg_mission_count_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0); sendMessage(&msg); } if (msg.msgid == MAVLINK_MSG_ID_SERIAL_CONTROL) { mavlink_serial_control_t m; mavlink_msg_serial_control_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1]; strlcpy(data, (const char *)m.data, m.count); // data might be not null-terminated @@ -181,7 +184,7 @@ void handleMavlink(const void *_msg) { mavlink_set_attitude_target_t m; mavlink_msg_set_attitude_target_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; // copy attitude, rates and thrust targets ratesTarget.x = m.body_roll_rate; @@ -203,7 +206,7 @@ void handleMavlink(const void *_msg) { mavlink_set_actuator_control_target_t m; mavlink_msg_set_actuator_control_target_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; attitudeTarget.invalidate(); ratesTarget.invalidate(); @@ -216,12 +219,12 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_LOG_REQUEST_DATA) { mavlink_log_request_data_t m; mavlink_msg_log_request_data_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; // Send all log records for (int i = 0; i < sizeof(logBuffer) / sizeof(logBuffer[0]); i++) { mavlink_message_t msg; - mavlink_msg_log_data_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i, + mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i, sizeof(logBuffer[0]), (uint8_t *)logBuffer[i]); sendMessage(&msg); } @@ -232,13 +235,13 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) { mavlink_command_long_t m; mavlink_msg_command_long_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; mavlink_message_t response; bool accepted = false; if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) { accepted = true; - mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response, + mavlink_msg_autopilot_version_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response, MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0); sendMessage(&response); } @@ -257,7 +260,7 @@ void handleMavlink(const void *_msg) { // send command ack mavlink_message_t ack; - mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid); + mavlink_msg_command_ack_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid); sendMessage(&ack); } } @@ -274,7 +277,7 @@ void sendMavlinkPrint() { char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1]; strlcpy(data, str + i, sizeof(data)); mavlink_message_t msg; - mavlink_msg_serial_control_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_serial_control_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, SERIAL_CONTROL_DEV_SHELL, i + MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN < strlen(str) ? SERIAL_CONTROL_FLAG_MULTI : 0, // more chunks to go 0, 0, strlen(data), (uint8_t *)data, 0, 0); @@ -282,5 +285,3 @@ void sendMavlinkPrint() { } mavlinkPrintBuffer.clear(); } - -#endif diff --git a/flix/motors.cpp b/flix/motors.cpp index 0f5f95f..1c2d2d4 100644 --- a/flix/motors.cpp +++ b/flix/motors.cpp @@ -1,8 +1,7 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// Motors output control using MOSFETs -// In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400) +// PWM control for motors #include #include "config.h" @@ -11,37 +10,42 @@ float motors[4]; // normalized motor thrusts in range [0..1] -extern const int MOTOR_REAR_LEFT = 0; -extern const int MOTOR_REAR_RIGHT = 1; -extern const int MOTOR_FRONT_RIGHT = 2; -extern const int MOTOR_FRONT_LEFT = 3; +int motorPins[4] = {12, 13, 14, 15}; // default pin numbers +int pwmFrequency = 78000; +int pwmResolution = 10; +int pwmStop = 0; +int pwmMin = 0; +int pwmMax = -1; // -1 means duty cycle mode + +extern const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3; void setupMotors() { print("Setup Motors\n"); - // configure pins - ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION); - ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION); - ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION); - ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION); - + for (int i = 0; i < 4; i++) { + ledcAttach(motorPins[i], pwmFrequency, pwmResolution); + pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring + } sendMotors(); print("Motors initialized\n"); } -int getDutyCycle(float value) { - value = constrain(value, 0, 1); - float pwm = mapf(value, 0, 1, PWM_MIN, PWM_MAX); - if (value == 0) pwm = PWM_STOP; - float duty = mapf(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1); - return round(duty); +void sendMotors() { + for (int i = 0; i < 4; i++) { + ledcWrite(motorPins[i], getDutyCycle(motors[i])); + } } -void sendMotors() { - ledcWrite(MOTOR_0_PIN, getDutyCycle(motors[0])); - ledcWrite(MOTOR_1_PIN, getDutyCycle(motors[1])); - ledcWrite(MOTOR_2_PIN, getDutyCycle(motors[2])); - ledcWrite(MOTOR_3_PIN, getDutyCycle(motors[3])); +int getDutyCycle(float value) { + value = constrain(value, 0, 1); + if (pwmMax >= 0) { // pwm mode + float pwm = mapf(value, 0, 1, pwmMin, pwmMax); + if (value == 0) pwm = pwmStop; + float duty = mapf(pwm, 0, 1000000 / pwmFrequency, 0, (1 << pwmResolution) - 1); + return round(duty); + } else { // duty cycle mode + return round(value * ((1 << pwmResolution) - 1)); + } } bool motorsActive() { @@ -50,7 +54,7 @@ bool motorsActive() { void testMotor(int n) { print("Testing motor %d\n", n); - motors[n] = 1; + motors[n] = 0.2; delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306 sendMotors(); pause(3); diff --git a/flix/parameters.cpp b/flix/parameters.cpp index 5b510a7..6955c3e 100644 --- a/flix/parameters.cpp +++ b/flix/parameters.cpp @@ -9,24 +9,40 @@ #include "lpf.h" #include "util.h" -extern float channelZero[16]; -extern float channelMax[16]; +extern float channelZero[16], channelMax[16]; extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern float tiltMax; +extern int flightModes[3]; extern PID rollPID, pitchPID, yawPID; extern PID rollRatePID, pitchRatePID, yawRatePID; extern Vector maxRate; extern Vector imuRotation; extern Vector accBias, accScale; -extern float accWeight; -extern LowPassFilter ratesFilter; +extern float accWeight, levelWeight; +extern LowPassFilter gyroBiasFilter, ratesFilter, voltageFilter; +extern int rcRxPin, voltagePin; +extern int motorPins[4]; +extern int pwmFrequency, pwmResolution, pwmStop, pwmMin, pwmMax; +extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel; +extern int mavlinkSysId; +extern Rate telemetrySlow, telemetryFast; +extern float rcLossTimeout, descendTime; +extern int voltagePin; +extern float voltageScale; +extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; Preferences storage; struct Parameter { - const char *name; // max length is 15 (Preferences key limit) - float *variable; - float value; // cache + const char *name; // max length is 15 + bool integer; + union { float *f; int *i; }; // pointer to the variable + float cache; // what's stored in flash + void (*callback)(); // called after parameter change + Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {}; + Parameter(const char *name, int *variable, void (*callback)() = nullptr) : name(name), integer(true), i(variable), callback(callback) {}; + float getValue() const { return integer ? *i : *f; }; + void setValue(const float value) { if (integer) *i = value; else *f = value; }; }; Parameter parameters[] = { @@ -35,13 +51,16 @@ Parameter parameters[] = { {"CTL_R_RATE_I", &rollRatePID.i}, {"CTL_R_RATE_D", &rollRatePID.d}, {"CTL_R_RATE_WU", &rollRatePID.windup}, + {"CTL_R_RATE_D_A", &rollRatePID.lpf.alpha}, {"CTL_P_RATE_P", &pitchRatePID.p}, {"CTL_P_RATE_I", &pitchRatePID.i}, {"CTL_P_RATE_D", &pitchRatePID.d}, {"CTL_P_RATE_WU", &pitchRatePID.windup}, + {"CTL_P_RATE_D_A", &pitchRatePID.lpf.alpha}, {"CTL_Y_RATE_P", &yawRatePID.p}, {"CTL_Y_RATE_I", &yawRatePID.i}, {"CTL_Y_RATE_D", &yawRatePID.d}, + {"CTL_Y_RATE_D_A", &yawRatePID.lpf.alpha}, {"CTL_R_P", &rollPID.p}, {"CTL_R_I", &rollPID.i}, {"CTL_R_D", &rollPID.d}, @@ -53,6 +72,9 @@ Parameter parameters[] = { {"CTL_R_RATE_MAX", &maxRate.x}, {"CTL_Y_RATE_MAX", &maxRate.z}, {"CTL_TILT_MAX", &tiltMax}, + {"CTL_FLT_MODE_0", &flightModes[0]}, + {"CTL_FLT_MODE_1", &flightModes[1]}, + {"CTL_FLT_MODE_2", &flightModes[2]}, // imu {"IMU_ROT_ROLL", &imuRotation.x}, {"IMU_ROT_PITCH", &imuRotation.y}, @@ -63,10 +85,23 @@ Parameter parameters[] = { {"IMU_ACC_SCALE_X", &accScale.x}, {"IMU_ACC_SCALE_Y", &accScale.y}, {"IMU_ACC_SCALE_Z", &accScale.z}, + {"IMU_GYRO_BIAS_A", &gyroBiasFilter.alpha}, // estimate {"EST_ACC_WEIGHT", &accWeight}, + {"EST_LVL_WEIGHT", &levelWeight}, {"EST_RATES_LPF_A", &ratesFilter.alpha}, + // motors + {"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors}, + {"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors}, + {"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT], setupMotors}, + {"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT], setupMotors}, + {"MOT_PWM_FREQ", &pwmFrequency, setupMotors}, + {"MOT_PWM_RES", &pwmResolution, setupMotors}, + {"MOT_PWM_STOP", &pwmStop}, + {"MOT_PWM_MIN", &pwmMin}, + {"MOT_PWM_MAX", &pwmMax}, // rc + {"RC_RX_PIN", &rcRxPin, setupRC}, {"RC_ZERO_0", &channelZero[0]}, {"RC_ZERO_1", &channelZero[1]}, {"RC_ZERO_2", &channelZero[2]}, @@ -88,17 +123,36 @@ Parameter parameters[] = { {"RC_THROTTLE", &throttleChannel}, {"RC_YAW", &yawChannel}, {"RC_MODE", &modeChannel}, + // wifi + {"WIFI_MODE", &wifiMode}, + {"WIFI_PORT_LOC", &udpLocalPort}, + {"WIFI_PORT_REM", &udpRemotePort}, + {"WIFI_LONG_RANGE", &wifiLongRange}, + // espnow + {"ESPNOW_CHANNEL", &espnowChannel}, + // mavlink + {"MAV_SYS_ID", &mavlinkSysId}, + {"MAV_RATE_SLOW", &telemetrySlow.rate}, + {"MAV_RATE_FAST", &telemetryFast.rate}, + // power + {"PWR_VOLT_PIN", &voltagePin, setupPower}, + {"PWR_VOLT_SCALE", &voltageScale}, + {"PWR_VOLT_LPF_A", &voltageFilter.alpha}, + // safety + {"SF_RC_LOSS_TIME", &rcLossTimeout}, + {"SF_DESCEND_TIME", &descendTime}, }; void setupParameters() { - storage.begin("flix", false); + print("Setup parameters\n"); + storage.begin("flix"); // Read parameters from storage for (auto ¶meter : parameters) { if (!storage.isKey(parameter.name)) { - storage.putFloat(parameter.name, *parameter.variable); + storage.putFloat(parameter.name, parameter.getValue()); // store default value } - *parameter.variable = storage.getFloat(parameter.name, *parameter.variable); - parameter.value = *parameter.variable; + parameter.setValue(storage.getFloat(parameter.name, 0)); + parameter.cache = parameter.getValue(); } } @@ -113,13 +167,13 @@ const char *getParameterName(int index) { float getParameter(int index) { if (index < 0 || index >= parametersCount()) return NAN; - return *parameters[index].variable; + return parameters[index].getValue(); } float getParameter(const char *name) { for (auto ¶meter : parameters) { - if (strcmp(parameter.name, name) == 0) { - return *parameter.variable; + if (strcasecmp(parameter.name, name) == 0) { + return parameter.getValue(); } } return NAN; @@ -127,8 +181,10 @@ float getParameter(const char *name) { bool setParameter(const char *name, const float value) { for (auto ¶meter : parameters) { - if (strcmp(parameter.name, name) == 0) { - *parameter.variable = value; + if (strcasecmp(parameter.name, name) == 0) { + if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf + parameter.setValue(value); + if (parameter.callback) parameter.callback(); return true; } } @@ -141,16 +197,17 @@ void syncParameters() { if (motorsActive()) return; // don't use flash while flying, it may cause a delay for (auto ¶meter : parameters) { - if (parameter.value == *parameter.variable) continue; - if (isnan(parameter.value) && isnan(*parameter.variable)) continue; // handle NAN != NAN - storage.putFloat(parameter.name, *parameter.variable); - parameter.value = *parameter.variable; + if (parameter.getValue() == parameter.cache) continue; // no change + if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN + + storage.putFloat(parameter.name, parameter.getValue()); + parameter.cache = parameter.getValue(); // update cache } } void printParameters() { for (auto ¶meter : parameters) { - print("%s = %g\n", parameter.name, *parameter.variable); + print("%s = %g\n", parameter.name, parameter.getValue()); } } diff --git a/flix/power.ino b/flix/power.ino new file mode 100644 index 0000000..a6df104 --- /dev/null +++ b/flix/power.ino @@ -0,0 +1,28 @@ +// Copyright (c) 2026 Oleg Kalachev +// Repository: https://github.com/okalachev/flix + +// Power management + +#include +#include +#include "lpf.h" +#include "util.h" + +float voltage = NAN; +LowPassFilter voltageFilter(0.2); +int voltagePin = -1; +float voltageScale = 2; + +void setupPower() { + REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); // disable reset on low voltage + if (digitalPinToAnalogChannel(voltagePin) == -1) voltagePin = -1; // test ADC pin +} + +void readVoltage() { + if (voltagePin < 0) return; + static Rate rate(10); + if (!rate) return; + + float v = analogReadMilliVolts(voltagePin) * voltageScale / 1000.0f; + voltage = voltageFilter.update(v); +} diff --git a/flix/rc.cpp b/flix/rc.cpp index 5702316..7433c72 100644 --- a/flix/rc.cpp +++ b/flix/rc.cpp @@ -6,25 +6,27 @@ #include #include "util.h" -SBUS rc(Serial2); +SBUS rc(Serial1); +int rcRxPin = -1; // -1 means disabled uint16_t channels[16]; // raw rc channels -float channelZero[16]; // calibration zero values -float channelMax[16]; // calibration max values +int channelZero[16]; // calibration zero values +int channelMax[16]; // calibration max values float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1] -float controlMode = NAN; // -float controlTime; // time of the last controls update (0 when no RC) +float controlMode = NAN; +float controlTime = NAN; // time of the last controls update -// Channels mapping (using float to store in parameters): -float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN; +int rollChannel = -1, pitchChannel = -1, throttleChannel = -1, yawChannel = -1, modeChannel = -1; // channel mapping void setupRC() { + if (rcRxPin < 0) return; print("Setup RC\n"); - rc.begin(); + rc.begin(rcRxPin); } bool readRC() { + if (rcRxPin < 0) return false; if (rc.read()) { SBUSData data = rc.data(); for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data @@ -41,30 +43,34 @@ void normalizeRC() { controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1); } // Update control values - controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : 0; - controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : 0; - controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : 0; - controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : 0; - controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN; // mode switch should not have affect if not set + controlRoll = rollChannel < 0 ? 0 : controls[rollChannel]; + controlPitch = pitchChannel < 0 ? 0 : controls[pitchChannel]; + controlYaw = yawChannel < 0 ? 0 : controls[yawChannel]; + controlThrottle = throttleChannel < 0 ? 0 : controls[throttleChannel]; + controlMode = modeChannel < 0 ? NAN : controls[modeChannel]; // mode control is ineffective if not mapped } void calibrateRC() { - uint16_t zero[16]; - uint16_t center[16]; - uint16_t max[16]; + if (rcRxPin < 0) { + print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin); + return; + } + uint16_t zero[16]; // for zero positions + uint16_t center[16]; // for center positions + uint16_t _[16]; // for unused data print("1/8 Calibrating RC: put all switches to default positions [3 sec]\n"); pause(3); - calibrateRCChannel(NULL, zero, zero, "2/8 Move sticks [3 sec]\n... ...\n... .o.\n.o. ...\n"); - calibrateRCChannel(NULL, center, center, "3/8 Move sticks [3 sec]\n... ...\n.o. .o.\n... ...\n"); - calibrateRCChannel(&throttleChannel, zero, max, "4/8 Move sticks [3 sec]\n.o. ...\n... .o.\n... ...\n"); - calibrateRCChannel(&yawChannel, center, max, "5/8 Move sticks [3 sec]\n... ...\n..o .o.\n... ...\n"); - calibrateRCChannel(&pitchChannel, zero, max, "6/8 Move sticks [3 sec]\n... .o.\n... ...\n.o. ...\n"); - calibrateRCChannel(&rollChannel, zero, max, "7/8 Move sticks [3 sec]\n... ...\n... ..o\n.o. ...\n"); - calibrateRCChannel(&modeChannel, zero, max, "8/8 Put mode switch to max [3 sec]\n"); + calibrateRCChannel(NULL, _, zero, "2/8 Move sticks [3 sec]\n... ...\n... .o.\n.o. ...\n"); + calibrateRCChannel(&throttleChannel, zero, _, "3/8 Move sticks [3 sec]\n.o. ...\n... .o.\n... ...\n"); + calibrateRCChannel(NULL, _, center, "4/8 Move sticks [3 sec]\n... ...\n.o. .o.\n... ...\n"); + calibrateRCChannel(&yawChannel, center, _, "5/8 Move sticks [3 sec]\n... ...\n..o .o.\n... ...\n"); + calibrateRCChannel(&pitchChannel, zero, _, "6/8 Move sticks [3 sec]\n... .o.\n... ...\n.o. ...\n"); + calibrateRCChannel(&rollChannel, zero, _, "7/8 Move sticks [3 sec]\n... ...\n... ..o\n.o. ...\n"); + calibrateRCChannel(&modeChannel, zero, _, "8/8 Put mode switch to max [3 sec]\n"); printRCCalibration(); } -void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const char *str) { +void calibrateRCChannel(int *channel, uint16_t in[16], uint16_t out[16], const char *str) { print("%s", str); pause(3); for (int i = 0; i < 30; i++) readRC(); // try update 30 times max @@ -85,15 +91,15 @@ void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const channelZero[ch] = in[ch]; channelMax[ch] = out[ch]; } else { - *channel = NAN; + *channel = -1; } } void printRCCalibration() { print("Control Ch Zero Max\n"); - print("Roll %-7g%-7g%-7g\n", rollChannel, rollChannel >= 0 ? channelZero[(int)rollChannel] : NAN, rollChannel >= 0 ? channelMax[(int)rollChannel] : NAN); - print("Pitch %-7g%-7g%-7g\n", pitchChannel, pitchChannel >= 0 ? channelZero[(int)pitchChannel] : NAN, pitchChannel >= 0 ? channelMax[(int)pitchChannel] : NAN); - print("Yaw %-7g%-7g%-7g\n", yawChannel, yawChannel >= 0 ? channelZero[(int)yawChannel] : NAN, yawChannel >= 0 ? channelMax[(int)yawChannel] : NAN); - print("Throttle %-7g%-7g%-7g\n", throttleChannel, throttleChannel >= 0 ? channelZero[(int)throttleChannel] : NAN, throttleChannel >= 0 ? channelMax[(int)throttleChannel] : NAN); - print("Mode %-7g%-7g%-7g\n", modeChannel, modeChannel >= 0 ? channelZero[(int)modeChannel] : NAN, modeChannel >= 0 ? channelMax[(int)modeChannel] : NAN); + print("Roll %-7d%-7d%-7d\n", rollChannel, rollChannel < 0 ? 0 : channelZero[rollChannel], rollChannel < 0 ? 0 : channelMax[rollChannel]); + print("Pitch %-7d%-7d%-7d\n", pitchChannel, pitchChannel < 0 ? 0 : channelZero[pitchChannel], pitchChannel < 0 ? 0 : channelMax[pitchChannel]); + print("Yaw %-7d%-7d%-7d\n", yawChannel, yawChannel < 0 ? 0 : channelZero[yawChannel], yawChannel < 0 ? 0 : channelMax[yawChannel]); + print("Throttle %-7d%-7d%-7d\n", throttleChannel, throttleChannel < 0 ? 0 : channelZero[throttleChannel], throttleChannel < 0 ? 0 : channelMax[throttleChannel]); + print("Mode %-7d%-7d%-7d\n", modeChannel, modeChannel < 0 ? 0 : channelZero[modeChannel], modeChannel < 0 ? 0 : channelMax[modeChannel]); } diff --git a/flix/safety.cpp b/flix/safety.cpp index 2838d2b..f923a5c 100644 --- a/flix/safety.cpp +++ b/flix/safety.cpp @@ -5,10 +5,14 @@ #include "config.h" #include "flix.h" +#include "util.h" extern float controlTime; extern const int AUTO, STAB; +float rcLossTimeout = 1; +float descendTime = 10; + void failsafe() { rcLossFailsafe(); autoFailsafe(); @@ -16,9 +20,8 @@ void failsafe() { // RC loss failsafe void rcLossFailsafe() { - if (controlTime == 0) return; // no RC at all if (!armed) return; - if (t - controlTime > RC_LOSS_TIMEOUT) { + if (t - controlTime > rcLossTimeout) { descend(); } } @@ -27,7 +30,7 @@ void rcLossFailsafe() { void descend() { mode = AUTO; attitudeTarget = Quaternion(); - thrustTarget -= dt / DESCEND_TIME; + thrustTarget -= dt / descendTime; if (thrustTarget < 0) { thrustTarget = 0; armed = false; @@ -38,8 +41,8 @@ void descend() { void autoFailsafe() { static float roll, pitch, yaw, throttle; if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) { - // controls changed - if (mode == AUTO) mode = STAB; // regain control by the pilot + // controls changed and mode switch is not configured + if (mode == AUTO && invalid(controlMode)) mode = STAB; // regain control by the pilot } roll = controlRoll; pitch = controlPitch; diff --git a/flix/util.h b/flix/util.h index a8ce398..dcbfff2 100644 --- a/flix/util.h +++ b/flix/util.h @@ -6,8 +6,7 @@ #pragma once #include -#include -#include +#include #include "flix.h" const float ONE_G = 9.80665; @@ -35,21 +34,29 @@ inline float wrapAngle(float angle) { return angle; } -// Disable reset on low voltage -inline void disableBrownOut() { - REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); -} - // Trim and split string by spaces inline void splitString(String& str, String& token0, String& token1, String& token2) { str.trim(); + if (str.isEmpty()) return; char chars[str.length() + 1]; str.toCharArray(chars, str.length() + 1); token0 = strtok(chars, " "); - token1 = strtok(NULL, " "); // String(NULL) creates empty string + token1 = strtok(NULL, " "); token2 = strtok(NULL, ""); + if (token1.c_str() == NULL) token1 = ""; + if (token2.c_str() == NULL) token2 = ""; } +// Simplified ESP-NOW Serial without tx buffering and resends +class ESPNOWSerial : public ESP_NOW_Serial_Class { +public: + using ESP_NOW_Serial_Class::ESP_NOW_Serial_Class; + void onSent(bool success) override {} // disable resends + size_t write(const uint8_t *data, size_t len) override { + return ESP_NOW_Peer::send(data, len); // pure send without buffering + } +}; + // Rate limiter class Rate { public: diff --git a/flix/vector.h b/flix/vector.h index 773d916..6c2f197 100644 --- a/flix/vector.h +++ b/flix/vector.h @@ -107,10 +107,23 @@ public: } static Vector rotationVectorBetween(const Vector& a, const Vector& b) { + float an = a.norm(); + float bn = b.norm(); + if (an < 1e-6 || bn < 1e-6) { + return Vector(0, 0, 0); + } Vector direction = cross(a, b); - if (direction.zero()) { - // vectors are opposite, return any perpendicular vector - return cross(a, Vector(1, 0, 0)); + if (direction.norm() < 1e-6) { // vectors are parallel + if (dot(a, b) > 0) { // same direction + return Vector(0, 0, 0); + } + // opposite direction + Vector perp = cross(a, Vector(1, 0, 0)); + if (perp.norm() < 1e-6) { + perp = cross(a, Vector(0, 1, 0)); + } + perp.normalize(); + return perp * PI; } direction.normalize(); float angle = angleBetween(a, b); diff --git a/flix/wifi.cpp b/flix/wifi.cpp index 23e03a2..a659445 100644 --- a/flix/wifi.cpp +++ b/flix/wifi.cpp @@ -1,48 +1,132 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// Wi-Fi support - -#include "config.h" -#include "flix.h" - -#if WIFI_ENABLED +// Wi-Fi and ESP-NOW communication #include #include #include +#include +#include +#include +#include "config.h" +#include "flix.h" +#include "util.h" +extern Preferences storage; // use the main preferences storage +extern bool mavlinkConnected; + +extern const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3; +int wifiMode = W_AP; + +int wifiLongRange = 0; +int udpLocalPort = 14550; +int udpRemotePort = 14550; +IPAddress udpRemoteIP = "255.255.255.255"; WiFiUDP udp; -extern bool mavlinkConnected; +ESPNOWSerial espnow(NULL, 0, WIFI_IF_AP); +ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP); +int espnowChannel = 6; void setupWiFi() { print("Setup Wi-Fi\n"); - WiFi.softAP(WIFI_SSID, WIFI_PASSWORD); - udp.begin(WIFI_UDP_PORT); + WiFi.enableLongRange(wifiLongRange); + + if (wifiMode == W_AP) { + WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str()); + udp.begin(udpLocalPort); + } else if (wifiMode == W_STA) { + WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str()); + udp.begin(udpLocalPort); + } else if (wifiMode == W_ESPNOW) { + WiFi.mode(WIFI_AP); + WiFi.setChannel(espnowChannel); + espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str())); + String key = storage.getString("ESPNOW_PEER_KEY", ""); + espnow.setKey(key.isEmpty() ? nullptr : (const uint8_t *)key.c_str()); + espnow.begin(); + espnowBroadcast.begin(); + } + + WiFi.setSleep(false); // disable power save } void sendWiFi(const uint8_t *buf, int len) { - if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return; - udp.beginPacket(udp.remoteIP() ? udp.remoteIP() : WIFI_UDP_REMOTE_ADDR, WIFI_UDP_REMOTE_PORT); + if (espnow) { + espnow.write(buf, len); + static Rate discovery(2); + if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device + return; + } + + if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return; + + udp.beginPacket(udpRemoteIP, udpRemotePort); udp.write(buf, len); udp.endPacket(); } int receiveWiFi(uint8_t *buf, int len) { + if (espnow) { + return espnow.read(buf, len); + } + + if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return 0; + udp.parsePacket(); + if (udp.remoteIP()) udpRemoteIP = udp.remoteIP(); return udp.read(buf, len); } void printWiFiInfo() { - print("MAC: %s\n", WiFi.softAPmacAddress().c_str()); - print("SSID: %s\n", WiFi.softAPSSID().c_str()); - print("Password: %s\n", WIFI_PASSWORD); - print("Clients: %d\n", WiFi.softAPgetStationNum()); - print("Status: %d\n", WiFi.status()); - print("IP: %s\n", WiFi.softAPIP().toString().c_str()); - print("Remote IP: %s\n", udp.remoteIP().toString().c_str()); + if (espnow) { + print("Mode: ESP-NOW\n"); + print("ESP-NOW version: %d\n", ESP_NOW.getVersion()); + print("Max packet size: %d\n", ESP_NOW.getMaxDataLen()); + print("MAC: %s\n", WiFi.softAPmacAddress().c_str()); + print("Peer MAC: %s\n", MacAddress(espnow.addr()).toString().c_str()); + print("Encrypted: %d\n", espnow.isEncrypted()); + print("Channel: %d\n", espnow.getChannel()); + } else if (WiFi.getMode() == WIFI_MODE_AP) { + print("Mode: Access Point (AP)\n"); + print("MAC: %s\n", WiFi.softAPmacAddress().c_str()); + print("SSID: %s\n", WiFi.softAPSSID().c_str()); + print("Password: ***\n"); + print("Channel: %d\n", WiFi.channel()); + print("Clients: %d\n", WiFi.softAPgetStationNum()); + print("IP: %s\n", WiFi.softAPIP().toString().c_str()); + print("Remote IP: %s\n", udpRemoteIP.toString().c_str()); + } else if (WiFi.getMode() == WIFI_MODE_STA) { + print("Mode: Client (STA)\n"); + print("Connected: %d\n", WiFi.isConnected()); + print("MAC: %s\n", WiFi.macAddress().c_str()); + print("SSID: %s\n", WiFi.SSID().c_str()); + print("Password: ***\n"); + print("Channel: %d\n", WiFi.channel()); + print("RSSI: %d dBm\n", WiFi.RSSI()); + print("IP: %s\n", WiFi.localIP().toString().c_str()); + print("Remote IP: %s\n", udpRemoteIP.toString().c_str()); + } else { + print("Mode: Disabled\n"); + } print("MAVLink connected: %d\n", mavlinkConnected); } -#endif +void configWiFi(int mode, const char *first, const char *second) { + MacAddress mac; + if (mode == W_AP && strlen(first) > 0 && strlen(second) >= 8) { + storage.putString("WIFI_AP_SSID", first); + storage.putString("WIFI_AP_PASS", second); + } else if (mode == W_STA && strlen(first) > 0 && strlen(second) >= 8) { + storage.putString("WIFI_STA_SSID", first); + storage.putString("WIFI_STA_PASS", second); + } else if (mode == W_ESPNOW && mac.fromString(first)) { + storage.putString("ESPNOW_PEER_MAC", first); + storage.putString("ESPNOW_PEER_KEY", strlen(second) == ESP_NOW_KEY_LEN ? second : ""); + } else { + print("Invalid configuration\n"); + return; + } + print("✓ Reboot to apply new settings\n"); +} diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h index 1ca8089..6122225 100644 --- a/gazebo/Arduino.h +++ b/gazebo/Arduino.h @@ -21,6 +21,8 @@ #define degrees(rad) ((rad)*RAD_TO_DEG) #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) +template T max(T a, T b) { return a > b ? a : b; } +template T min(T a, T b) { return a < b ? a : b; } long map(long x, long in_min, long in_max, long out_min, long out_max) { const long run = in_max - in_min; @@ -149,7 +151,7 @@ public: void setRxInvert(bool invert) {}; }; -HardwareSerial Serial, Serial2; +HardwareSerial Serial, Serial1, Serial2; class EspClass { public: @@ -165,6 +167,9 @@ void delay(uint32_t ms) { bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; } bool ledcWrite(uint8_t pin, uint32_t duty) { return true; } +uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; } +int8_t digitalPinToAnalogChannel(uint8_t pin) { return -1; } +uint32_t analogReadMilliVolts(uint8_t pin) { return 0; } unsigned long __micros; unsigned long __resetTime = 0; diff --git a/gazebo/ESP32_NOW_Serial.h b/gazebo/ESP32_NOW_Serial.h new file mode 100644 index 0000000..1d56c35 --- /dev/null +++ b/gazebo/ESP32_NOW_Serial.h @@ -0,0 +1,12 @@ +// Dummy file for the simulator + +class ESP_NOW_Peer { +protected: + size_t send(const uint8_t *data, int len) { return 0; } +}; + +class ESP_NOW_Serial_Class : public ESP_NOW_Peer { +public: + virtual void onSent(bool success) {}; + virtual size_t write(const uint8_t *data, size_t len) { return 0; }; +}; diff --git a/gazebo/SBUS.h b/gazebo/SBUS.h index eb6b2ec..11161d7 100644 --- a/gazebo/SBUS.h +++ b/gazebo/SBUS.h @@ -13,7 +13,7 @@ class SBUS { public: SBUS(HardwareSerial& bus, const bool inv = true) {}; SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {}; - void begin() {}; + void begin(int rxpin = -1, int txpin = -1, bool inv = true, bool fast = false) {}; bool read() { return joystickInit(); }; SBUSData data() { SBUSData data; diff --git a/gazebo/flix.h b/gazebo/flix.h index 91d72c4..122bdb5 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -9,8 +9,7 @@ #include "quaternion.h" #include "Arduino.h" #include "wifi.h" - -#define WIFI_ENABLED 1 +#include "lpf.h" extern float t, dt; extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; @@ -21,28 +20,33 @@ extern float motors[4]; Vector gyro, acc, imuRotation; Vector accBias, gyroBias, accScale(1, 1, 1); +LowPassFilter gyroBiasFilter(0); // declarations void step(); void computeLoopRate(); void applyGyro(); void applyAcc(); +void applyLevel(); void control(); void interpretControls(); void controlAttitude(); void controlRates(); void controlTorque(); +void desaturate(float& a, float& b, float& c, float& d); const char* getModeName(); void sendMotors(); +int getDutyCycle(float value); bool motorsActive(); void testMotor(int n); void print(const char* format, ...); void pause(float duration); void doCommand(String str, bool echo); void handleInput(); +void setupRC(); void normalizeRC(); void calibrateRC(); -void calibrateRCChannel(float *channel, uint16_t zero[16], uint16_t max[16], const char *str); +void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*); void printRCCalibration(); void printLogHeader(); void printLogData(); @@ -54,6 +58,7 @@ void handleMavlink(const void *_msg); void mavlinkPrint(const char* str); void sendMavlinkPrint(); inline Quaternion fluToFrd(const Quaternion &q); +void setupPower(); void failsafe(); void rcLossFailsafe(); void descend(); @@ -73,3 +78,4 @@ void calibrateAccel() { print("Skip accel calibrating\n"); }; void printIMUCalibration() { print("cal: N/A\n"); }; void printIMUInfo() {}; void printWiFiInfo() {}; +void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); }; diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp index 845b7a1..5b29ddf 100644 --- a/gazebo/simulator.cpp +++ b/gazebo/simulator.cpp @@ -60,6 +60,8 @@ public: gyro = Vector(imu->AngularVelocity().X(), imu->AngularVelocity().Y(), imu->AngularVelocity().Z()); acc = this->accFilter.update(Vector(imu->LinearAcceleration().X(), imu->LinearAcceleration().Y(), imu->LinearAcceleration().Z())); + voltage = 4.2f; // dummy voltage value + readRC(); estimate(); diff --git a/gazebo/soc/soc.h b/gazebo/soc/soc.h index 2d3f1e2..f9817f6 100644 --- a/gazebo/soc/soc.h +++ b/gazebo/soc/soc.h @@ -1,4 +1,3 @@ // Dummy file to make it possible to compile simulator with Flix' util.h -#define WRITE_PERI_REG(addr, val) {} #define REG_CLR_BIT(_r, _b) {} diff --git a/gazebo/wifi.h b/gazebo/wifi.h index 426f2d8..1c7b708 100644 --- a/gazebo/wifi.h +++ b/gazebo/wifi.h @@ -11,9 +11,10 @@ #include #include -#define WIFI_UDP_PORT 14580 -#define WIFI_UDP_REMOTE_PORT 14550 -#define WIFI_UDP_REMOTE_ADDR "255.255.255.255" +int wifiMode = 1; // mock +int udpLocalPort = 14580; +int udpRemotePort = 14550; +const char *udpRemoteIP = "255.255.255.255"; int wifiSocket; @@ -22,22 +23,22 @@ void setupWiFi() { sockaddr_in addr; // local address addr.sin_family = AF_INET; addr.sin_addr.s_addr = INADDR_ANY; - addr.sin_port = htons(WIFI_UDP_PORT); + addr.sin_port = htons(udpLocalPort); if (bind(wifiSocket, (sockaddr *)&addr, sizeof(addr))) { - gzerr << "Failed to bind WiFi UDP socket on port " << WIFI_UDP_PORT << std::endl; + gzerr << "Failed to bind WiFi UDP socket on port " << udpLocalPort << std::endl; return; } int broadcast = 1; setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast - gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT << " (remote port " << WIFI_UDP_REMOTE_PORT << ")" << std::endl; + gzmsg << "WiFi UDP socket initialized on port " << udpLocalPort << " (remote port " << udpRemotePort << ")" << std::endl; } void sendWiFi(const uint8_t *buf, int len) { if (wifiSocket == 0) setupWiFi(); sockaddr_in addr; // remote address addr.sin_family = AF_INET; - addr.sin_addr.s_addr = inet_addr(WIFI_UDP_REMOTE_ADDR); - addr.sin_port = htons(WIFI_UDP_REMOTE_PORT); + addr.sin_addr.s_addr = inet_addr(udpRemoteIP); + addr.sin_port = htons(udpRemotePort); sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr)); } diff --git a/tools/espnow-proxy/README.md b/tools/espnow-proxy/README.md new file mode 100644 index 0000000..0a83be2 --- /dev/null +++ b/tools/espnow-proxy/README.md @@ -0,0 +1,3 @@ +# ESPNOW-proxy + +Proxy sketch for using ESP-NOW connection with Flix drone. diff --git a/tools/espnow-proxy/espnow-proxy.ino b/tools/espnow-proxy/espnow-proxy.ino new file mode 100644 index 0000000..c42c914 --- /dev/null +++ b/tools/espnow-proxy/espnow-proxy.ino @@ -0,0 +1,88 @@ +// Copyright (c) 2026 Oleg Kalachev +// Repository: https://github.com/okalachev/flix + +// Proxy for ESP-NOW connection + +#include +#include +#include +#include +#include +#include +#include "../../flix/util.h" + +const int CHANNEL = 6; +char key[ESP_NOW_KEY_LEN + 1] = {0}; // with trailing null + +Preferences storage; + +std::vector peers; + +void onNewPeer(const esp_now_recv_info_t *info, const uint8_t *data, int len, void *arg) { + if (len != 4 || memcmp(data, "flix", 4) != 0) return; // check if discovery message + + Serial.printf("New peer: " MACSTR "\n", MAC2STR(info->src_addr)); + ESPNOWSerial *link = new ESPNOWSerial(info->src_addr, CHANNEL, WIFI_IF_AP); + link->begin(); + link->setKey((const uint8_t *)key); + peers.push_back(link); +} + +void setup() { + Serial.begin(115200); + WiFi.mode(WIFI_AP); + WiFi.setSleep(false); + WiFi.setChannel(CHANNEL); + + ESP_NOW.onNewPeer(onNewPeer, NULL); + ESP_NOW.begin(); + + storage.begin("espnow-proxy"); + if (!storage.isKey("key")) { + generateRandomKey(); + storage.putString("key", key); + } + strcpy(key, storage.getString("key").c_str()); + + // Discover the first peer + while (peers.empty()) { + Serial.printf("espnow %s %s\n", WiFi.softAPmacAddress().c_str(), key); + delay(500); + } +} + +void generateRandomKey() { + const char chars[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789!@#$%^&*-_+="; + for (int i = 0; i < ESP_NOW_KEY_LEN; i++) { + key[i] = chars[random(0, strlen(chars))]; + } +} + +void loop() { + uint8_t buf[5000]; + + // Send from Serial to ESP-NOW + while (Serial.available() > 0) { + int b = Serial.read(); + if (b < 0) { + break; + } + + mavlink_message_t msg; + mavlink_status_t status; + if (mavlink_parse_char(MAVLINK_COMM_0, (uint8_t)b, &msg, &status)) { + int len = mavlink_msg_to_send_buffer(buf, &msg); + for (ESPNOWSerial *link : peers) { + link->write(buf, len); + } + } + } + + // Send from ESP-NOW to Serial + for (ESPNOWSerial *link : peers) { + int len = link->read(buf, sizeof(buf)); + if (len > 0) { + Serial.write(buf, len); + } + } +} diff --git a/tools/example.py b/tools/example.py index 909d408..0738bda 100755 --- a/tools/example.py +++ b/tools/example.py @@ -10,6 +10,7 @@ print('Connected:', flix.connected) print('Mode:', flix.mode) print('Armed:', flix.armed) print('Landed:', flix.landed) +print('Voltage:', flix.voltage, 'V') print('Rates:', *[f'{math.degrees(r):.0f}°/s' for r in flix.rates]) print('Attitude:', *[f'{math.degrees(a):.0f}°' for a in flix.attitude_euler]) print('Motors:', flix.motors) @@ -23,11 +24,11 @@ print('> imu') print(flix.cli('imu')) print('=== Get parameter...') -pitch_p = flix.get_param('PITCH_P') -print('PITCH_P = ', pitch_p) +pitch_p = flix.get_param('CTL_P_P') +print('CTL_P_P = ', pitch_p) print('=== Set parameter...') -flix.set_param('PITCH_P', pitch_p) +flix.set_param('CTL_P_P', pitch_p) print('=== Wait for gyro update...') print('Gyro: ', flix.wait('gyro')) diff --git a/tools/grab_log.py b/tools/grab_log.py index c1e1a94..1f7d0ae 100755 --- a/tools/grab_log.py +++ b/tools/grab_log.py @@ -13,7 +13,7 @@ lines = [] print('Downloading log...') count = 0 -dev.write('log\n'.encode()) +dev.write('log dump\n'.encode()) while True: line = dev.readline() if not line: diff --git a/tools/log.py b/tools/log.py index a1e3f1a..d638d9c 100755 --- a/tools/log.py +++ b/tools/log.py @@ -43,6 +43,7 @@ records = [record for record in records if record[0] != 0] print(f'Received records: {len(records)}') +os.makedirs(f'{DIR}/log', exist_ok=True) log = open(f'{DIR}/log/{datetime.datetime.now().isoformat()}.csv', 'wb') log.write(header.encode() + b'\n') for record in records: diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index c336275..eff2ab1 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -24,19 +24,20 @@ pip install pyflix The API is accessed through the `Flix` class: ```python -from flix import Flix +from pyflix import Flix flix = Flix() # create a Flix object and wait for connection ``` ### Telemetry -Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware itself: +Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware code: ```python print(flix.connected) # True if connected to the drone print(flix.mode) # current flight mode (str) print(flix.armed) # True if the drone is armed print(flix.landed) # True if the drone is landed +print(flix.voltage) # battery voltage (NaN - unknown, ~0 - USB powered) print(flix.attitude) # attitude quaternion [w, x, y, z] print(flix.attitude_euler) # attitude as Euler angles [roll, pitch, yaw] print(flix.rates) # angular rates [roll_rate, pitch_rate, yaw_rate] @@ -92,17 +93,18 @@ Full list of events: |-----|-----------|----------------| |`connected`|Connected to the drone|| |`disconnected`|Connection is lost|| -|`armed`|Armed state update|Armed state (*bool*)| -|`mode`|Flight mode update|Flight mode (*str*)| -|`landed`|Landed state update|Landed state (*bool*)| +|`armed`|Armed state update|Armed state *(bool)*| +|`mode`|Flight mode update|Flight mode *(str)*| +|`landed`|Landed state update|Landed state *(bool)*| +|`voltage`|Battery voltage update|Voltage *(float)*| |`print`|The drone prints text to the console|Text| -|`attitude`|Attitude update|Attitude quaternion (*list*)| -|`attitude_euler`|Attitude update|Euler angles (*list*)| -|`rates`|Angular rates update|Angular rates (*list*)| -|`channels`|Raw RC channels update|Raw RC channels (*list*)| -|`motors`|Motor outputs update|Motor outputs (*list*)| -|`acc`|Accelerometer update|Accelerometer output (*list*)| -|`gyro`|Gyroscope update|Gyroscope output (*list*)| +|`attitude`|Attitude update|Attitude quaternion *(list)*| +|`attitude_euler`|Attitude update|Euler angles *(list)*| +|`rates`|Angular rates update|Angular rates *(list)*| +|`channels`|Raw RC channels update|Raw RC channels *(list)*| +|`motors`|Motor outputs update|Motor outputs *(list)*| +|`acc`|Accelerometer update|Accelerometer output *(list)*| +|`gyro`|Gyroscope update|Gyroscope output *(list)*| |`mavlink`|Received MAVLink message|Message object| |`mavlink.`|Received specific MAVLink message|Message object| |`mavlink.`|Received specific MAVLink message|Message object| @@ -117,8 +119,8 @@ Full list of events: Get and set firmware parameters using `get_param` and `set_param` methods: ```python -pitch_p = flix.get_param('PITCH_P') # get parameter value -flix.set_param('PITCH_P', 5) # set parameter value +pitch_p = flix.get_param('CTL_P_P') # get parameter value +flix.set_param('CTL_P_P', 5) # set parameter value ``` Execute console commands using `cli` method. This method returns the command response: @@ -277,7 +279,3 @@ logger = logging.getLogger('flix') logger.setLevel(logging.DEBUG) # be more verbose logger.setLevel(logging.WARNING) # be less verbose ``` - -## Stability - -The library is in development stage. The API is not stable. diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py index a12d25f..a6b44a3 100644 --- a/tools/pyflix/flix.py +++ b/tools/pyflix/flix.py @@ -5,6 +5,7 @@ import os import time +import math from queue import Queue, Empty from typing import Optional, Callable, List, Dict, Any, Union, Sequence import logging @@ -26,6 +27,7 @@ class Flix: mode: str = '' armed: bool = False landed: bool = False + voltage: float = math.nan attitude: List[float] attitude_euler: List[float] # roll, pitch, yaw rates: List[float] @@ -68,7 +70,7 @@ class Flix: self._heartbeat_thread.start() if wait_connection: self.wait('mavlink.HEARTBEAT') - time.sleep(0.2) # give some time to receive initial state + time.sleep(0.6) # give some time to receive initial state def _init_state(self): self.attitude = [1, 0, 0, 0] @@ -138,7 +140,7 @@ class Flix: while True: try: msg: Optional[mavlink.MAVLink_message] = self.connection.recv_match(blocking=True) - if msg is None: + if msg is None or msg.get_srcSystem() != self.system_id: continue self._connected() msg_dict = msg.to_dict() @@ -185,11 +187,16 @@ class Flix: self._trigger('motors', self.motors) if isinstance(msg, mavlink.MAVLink_scaled_imu_message): - self.acc = self._mavlink_to_flu([msg.xacc / 1000, msg.yacc / 1000, msg.zacc / 1000]) + ONE_G = 9.80665 + self.acc = self._mavlink_to_flu([msg.xacc * ONE_G / 1000, msg.yacc * ONE_G / 1000, msg.zacc * ONE_G / 1000]) self.gyro = self._mavlink_to_flu([msg.xgyro / 1000, msg.ygyro / 1000, msg.zgyro / 1000]) self._trigger('acc', self.acc) self._trigger('gyro', self.gyro) + if isinstance(msg, mavlink.MAVLink_battery_status_message): + self.voltage = msg.voltages[0] / 1000 + self._trigger('voltage', self.voltage) + if isinstance(msg, mavlink.MAVLink_serial_control_message): # new chunk of data text = bytes(msg.data)[:msg.count].decode('utf-8', errors='ignore') diff --git a/tools/pyproject.toml b/tools/pyproject.toml index 5ec9593..7b6031c 100644 --- a/tools/pyproject.toml +++ b/tools/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyflix" -version = "0.11" +version = "0.15" description = "Python API for Flix drone" authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] license = "MIT"