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Use new FlixPeriph library with ICM-20948 support

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Oleg Kalachev 2024-12-04 14:41:23 +03:00
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4 changed files with 21 additions and 21 deletions
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17
README.md
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@ -53,7 +53,7 @@ See [instructions on running the simulation](docs/build.md).
|Type|Part|Image|Quantity|
|-|-|:-:|:-:|
|Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
|IMU and barometer² board|GY-91 (or other MPU-9250/MPU-6500 board)|<img src="docs/img/gy-91.jpg" width=100>|1|
|IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|<img src="docs/img/gy-91.jpg" width=90 align=center><img src="docs/img/icm-20948.jpg" width=100>|1|
|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="docs/img/motor.jpeg" width=100>|4|
|Propeller|Hubsan 55 mm|<img src="docs/img/prop.jpg" width=100>|4|
|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4|
@ -65,13 +65,14 @@ See [instructions on running the simulation](docs/build.md).
|Frame bottom part|3D printed:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<img src="docs/img/frame1.jpg" width=100>|1|
|Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
|Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|1|
|*RC transmitter (optional)*|*KINGKONG TINY X8 or other³*|<img src="docs/img/tx.jpg" width=100>|1|
|*RC receiver (optional)*|*DF500 or other³*|<img src="docs/img/rx.jpg" width=100>|1|
|*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁴*|<img src="docs/img/tx.jpg" width=100>|1|
|*RC receiver (optional)*|*DF500 or other⁴*|<img src="docs/img/rx.jpg" width=100>|1|
|Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>||
|Tape, double-sided tape||||
*² — barometer is not used for now.*<br>
*³ — you may use any transmitter-receiver pair with SBUS interface.*
*³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br>
*⁴ — you may use any transmitter-receiver pair with SBUS interface.*
Tools required for assembly:
@ -127,19 +128,19 @@ Complete diagram is Work-in-Progress.
|-|-|
|GND|GND|
|VIN|VC (or 3.3V depending on the receiver)|
|Signal|GPIO4⁴|
|Signal|GPIO4⁵|
*⁴ — 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.*
*⁵ — 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.*
### IMU placement
Required IMU orientation on the drone is **FLU** (Forward, Left, Up)⁵:
Required IMU orientation on the drone is **FLU** (Forward, Left, Up)⁶:
<img src="docs/img/flu.svg" width=400 alt="GY-91 axis">
In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98).
*⁵ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.*
*⁶ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.*
## Version 0

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15
docs/troubleshooting.md
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@ -13,19 +13,20 @@ 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.
* **Make sure correct IMU model is chosen**. If using ICM-20948 board, change `MPU9250` to `ICM20948` everywhere 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.
* **Check the motors**. Perform the following commands using Serial Monitor:
* `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).
* **Calibrate the RC** if you use it. Perform `rc` command and put the results to `rc.ino` file.
* **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
* **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**.
* **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while.
* **Check the IMU sample rate**. Perform `imu` command. The `rate` field should be about 1000 (Hz).
* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
* **Calibrate the accelerometer.** if is wasn't done before. Perform `ca` command and put the results to `imu.ino` file.
* **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 motors**. Perform the following commands using Serial Monitor:
* `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).
* **Calibrate the RC** if you use it. Perform `rc` command and put the results to `rc.ino` file.
* **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
* **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.
* **Check the gyroscope only attitude estimation**. Comment out `applyAcc();` line in `estimate.ino` and check if the attitude estimation in QGroundControl. It should be stable, but only drift very slowly.

10
flix/imu.ino
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@ -34,8 +34,8 @@ void setupIMU() {
void configureIMU() {
IMU.setAccelRange(IMU.ACCEL_RANGE_4G);
IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS);
IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_184HZ);
IMU.setSrd(0); // set sample rate to 1000 Hz
IMU.setDLPF(IMU.DLPF_MAX);
IMU.setRate(IMU.RATE_1KHZ_APPROX);
}
void readIMU() {
@ -67,8 +67,6 @@ void calibrateGyro() {
void calibrateAccel() {
Serial.println("Calibrating accelerometer");
IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode
IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_20HZ);
IMU.setSrd(19);
Serial.setTimeout(60000);
Serial.print("Place level [enter] "); Serial.readStringUntil('\n');
@ -89,7 +87,7 @@ void calibrateAccel() {
}
void calibrateAccelOnce() {
const int samples = 100;
const int samples = 1000;
static Vector accMax(-INFINITY, -INFINITY, -INFINITY);
static Vector accMin(INFINITY, INFINITY, INFINITY);
@ -125,6 +123,6 @@ void printIMUCal() {
}
void printIMUInfo() {
Serial.printf("type: %s\n", IMU.getType());
Serial.printf("model: %s\n", IMU.getModel());
Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
}