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Add firmware overview article

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Oleg Kalachev 2024-01-13 14:08:02 +03:00
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README.md
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**flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
<img src="docs/img/flix.jpg" width=500>
<img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter">
## Features
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Simulation in Gazebo using a plugin that runs original Arduino code is implemented:
<img src="docs/img/simulator.png" width=500>
<img src="docs/img/simulator.png" width=500 alt="Flix simulator">
## Schematics
<img src="docs/img/schematics.svg" width=800>
<img src="docs/img/schematics.svg" width=800 alt="Flix schematics">
You can also check a user contributed [variant of complete circuit diagram](https://github.com/okalachev/flix/issues/3#issue-2066079898) of the drone.

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docs/build.md
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See other available Make commands in the [Makefile](../Makefile).
### Firmware code structure
See [firmware overview](firmware.md) for more details.
## Setup
Before flight in simulation and on the real drone, you need to calibrate your remote control. Use drone's command line interface (`make monitor` on the real drone) and type `cr` command. Copy calibration results to the source code (`flix/rc.ino` and/or `gazebo/joystick.h`).

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# Firmware overview
## Dataflow
<img src="img/dataflow.svg" width=800 alt="Firmware dataflow diagram">
The main loop is running at 1000 Hz. All the dataflow is happening through global variables (for simplicity):
* `t` *(float)* — current step time, *s*.
* `dt` *(float)* — time delta between the current and previous steps, *s*.
* `rates` *(Vector)* — angular rates from the gyroscope, *rad/s*.
* `acc` *(Vector)* — acceleration data from the accelerometer, *m/s<sup>2</sup>*.
* `attitude` *(Quaternion)* — current estimated attitude (orientation) of drone.
* `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range.
* `motors` *(float[])* — motor outputs, normalized to [-1, 1] range; reverse rotation is possible.
## Source files
Firmware source files are located in `flix` directory. The key files are:
* [`flix.ino`](../flix/flix.ino) — main entry point, Arduino sketch. Include global variables definition and the main loop.
* [`imu.ino`](../flix/imu.ino) — reading data from the IMU sensor (gyroscope and accelerometer), IMU calibration.
* [`rc.ino`](../flix/rc.ino) — reading data from the RC receiver, RC calibration.
* [`estimate.ino`](../flix/estimate.ino) — drone's attitude estimation, complementary filter.
* [`control.ino`](../flix/control.ino) — drone's attitude and rates control, three-dimensional two-level cascade PID controller.
* [`motors.ino`](../flix/motors.ino) — PWM motor outputs control.
Utility files include:
* [`vector.h`](../flix/vector.h), [`quaternion.h`](../flix/quaternion.h) — project's vector and quaternion libraries implementation.
* [`pid.h`](../flix/pid.h) — generic PID controller implementation.
* [`lpf.h`](../flix/lpf.h) — generic low-pass filter implementation.
## Building
See build instructions in [build.md](build.md).