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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
parent 475e9a87ba
commit 172b6becc6
4 changed files with 21 additions and 21 deletions
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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