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Updates in documentation

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Fixes, updates, new illustrations.
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Oleg Kalachev
2025-11-10 20:13:39 +03:00
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30
README.md
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@@ -54,15 +54,17 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
## Documentation
* [Assembly instructions](docs/assembly.md).
* [Usage: build, setup and flight](docs/usage.md).
* [Troubleshooting](docs/troubleshooting.md).
* [Simulation](gazebo/README.md).
* [Firmware architectural overview](docs/firmware.md).
* [Python library](tools/pyflix/README.md).
* [Log analysis](docs/log.md).
1. [Assembly instructions](docs/assembly.md).
2. [Usage: build, setup and flight](docs/usage.md).
3. [Simulation](gazebo/README.md).
4. [Python library](tools/pyflix/README.md).
Additional articles:
* [User builds gallery](docs/user.md).
* [Version 0 (obsolete)](docs/version0.md).
* [Firmware architectural overview](docs/firmware.md).
* [Troubleshooting](docs/troubleshooting.md).
* [Log analysis](docs/log.md).
## Components
@@ -80,9 +82,9 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
|Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1|
|Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2|
|Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4|
|Frame main part|3D printed²:<br>[`flix-frame-1.1.stl`](docs/assets/flix-frame-1.1.stl) [`flix-frame-1.1.step`](docs/assets/flix-frame-1.1.step)<br>Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.|<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>|2|
|Frame main part|3D printed²: [`stl`](docs/assets/flix-frame-1.1.stl) [`step`](docs/assets/flix-frame-1.1.step)<br>Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.|<img src="docs/img/frame1.jpg" width=100>|1|
|Frame top part|3D printed: [`stl`](docs/assets/esp32-holder.stl) [`step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
|Washer for IMU board mounting|3D printed: [`stl`](docs/assets/washer-m3.stl) [`step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|2|
|Controller (recommended)|CC2500 transmitter, like BetaFPV LiteRadio CC2500 (RC receiver/Wi-Fi).<br>Two-sticks gamepad (Wi-Fi only) — see [recommended gamepads](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html#supported-joysticks).<br>Other⁵|<img src="docs/img/betafpv.jpg" width=100><img src="docs/img/logitech.jpg" width=80>|1|
|*RC receiver (optional)*|*DF500 or other³*|<img src="docs/img/rx.jpg" width=100>|1|
|Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>||
@@ -116,8 +118,6 @@ Motor connection scheme:
You can see a user-contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612338222067&cot=14) of the drone.
See [assembly guide](docs/assembly.md) for instructions on assembling the drone.
### Notes
* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.
@@ -151,9 +151,9 @@ See [assembly guide](docs/assembly.md) for instructions on assembling the drone.
|-|-|
|GND|GND|
|VIN|VCC (or 3.3V depending on the receiver)|
|Signal (TX)|GPIO4⁶|
|Signal (TX)|GPIO4¹|
*⁶ — 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.*
*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.*
## Resources

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@@ -16,6 +16,8 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b
### Arduino IDE (Windows, Linux, macOS)
<img src="img/arduino-ide.png" width="400" alt="Flix firmware open in Arduino IDE">
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.
@@ -73,9 +75,11 @@ MPU6050 imu(Wire); // For MPU-6050
### Setup the IMU orientation
The IMU orientation is defined in `rotateIMU` function in the `imu.ino` file. Change it so it converts the IMU axes to the drone's axes correctly. **Drone axes are X forward, Y left, Z up.**
The IMU orientation is defined in `rotateIMU` function in the `imu.ino` file. Change it so it converts the IMU axes to the drone's axes correctly. **Drone axes are X forward, Y left, Z up**:
See various [IMU axes orientations table](https://github.com/okalachev/flixperiph/?tab=readme-ov-file#imu-axes-orientation) to help you set up the correct orientation.
<img src="img/drone-axes.svg" width="200">
See various [IMU boards axes orientations table](https://github.com/okalachev/flixperiph/?tab=readme-ov-file#imu-axes-orientation) to help you set up the correct orientation.
### Connect using QGroundControl
@@ -93,44 +97,51 @@ The console is a command line interface (CLI) that allows to interact with the d
To access the console using serial port:
1. Connect the ESP32 board to the computer using USB cable.
2. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
2. Open Serial Monitor in Arduino IDE (or use `make monitor` in the command line).
3. In Arduino IDE, make sure the baudrate is set to 115200.
To access the console wirelessly using QGroundControl:
To access the console using QGroundControl:
1. Connect to the drone using QGroundControl app.
2. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
<img src="img/cli.png" width="400">
Use `help` command to see the list of available commands.
> [!TIP]
> Use `help` command to see the list of available commands.
### Calibrate accelerometer
Before flight you need to calibrate the accelerometer:
1. Access the console using QGroundControl (more convenient) or Serial Monitor.
1. Access the console using QGroundControl (recommended) or Serial Monitor.
2. Type `ca` command there and follow the instructions.
### Check everything works
1. 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.
* 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:
<img src="img/qgc-attitude.png" height="200">
3. Perform motor tests in the console. **Remove the propellers before this!** Use the following commands:
3. Perform motor tests in the console. 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).
> [!WARNING]
> Never run the motors when powering the drone from USB, always use the battery for that.
## Setup remote control
There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **standard radio remote control**, or using **USB remote control** (Wi-Fi).
There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi).
### Control with smartphone
@@ -146,10 +157,10 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
### Control with remote control
Before flight using remote control, you need to calibrate it:
Before using remote SBUS-connected remote control, you need to calibrate it:
1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
2. Type `cr` command there and follow the instructions.
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!
### Control with USB remote control

2
docs/version0.md
View File

@@ -14,7 +14,7 @@ Flix version 0 (obsolete):
|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="img/motor.jpeg" width=100>|4|
|Propeller|Hubsan 55 mm|<img src="img/prop.jpg" width=100>|4|
|Motor ESC|2.7A 1S Dual Way Micro Brush ESC|<img src="img/esc.jpg" width=100>|4|
|RC transmitter|KINGKONG TINY X8|<img src="img/tx.jpg" width=100>|1|
|RC transmitter|KINGKONG TINY X8|<img src="img/kingkong.jpg" width=100>|1|
|RC receiver|DF500 (SBUS)|<img src="img/rx.jpg" width=100>|1|
|~~SBUS inverter~~*||<img src="img/inv.jpg" width=100>|~~1~~|
|Battery|3.7 Li-Po 850 MaH 60C|||

2
gazebo/README.md
View File

@@ -4,7 +4,7 @@ The Flix drone simulator is based on Gazebo 11 and runs the firmware code in vir
Gazebo 11 works on **Ubuntu 20.04** and used to work on macOS. However, on the recent macOS versions it seems to be broken, so Ubuntu 20.04 is recommended.
<img src="../docs/img/simulator1.png" width=600 alt="Flix simulator">
<img src="../docs/img/simulator1.png" width=600 alt="Flix simulator running on macOS">
## Installation

13
tools/pyflix/README.md
View File

@@ -46,8 +46,11 @@ print(flix.acc) # accelerometer output (list)
print(flix.gyro) # gyroscope output (list)
```
> [!NOTE]
> The library uses the Front-Left-Up coordinate system — the same as in the firmware. All angles are in radians.
The library uses the Front-Left-Up coordinate system — the same as the firmware:
<img src="../../docs/img/drone-axes-rotate.svg" width="300">
All angles are in radians.
### Events
@@ -107,7 +110,7 @@ Full list of events:
|`value.<name>`|Specific named value update (see bellow)|Value|
> [!NOTE]
> Update events trigger on every new data from the drone, and do not mean the value is changed.
> Update events trigger on every new data from the drone, and do not mean the value has changed.
### Common methods
@@ -118,7 +121,7 @@ pitch_p = flix.get_param('PITCH_P') # get parameter value
flix.set_param('PITCH_P', 5) # set parameter value
```
Execute CLI commands using `cli` method. This method returns command response:
Execute console commands using `cli` method. This method returns command response:
```python
imu = flix.cli('imu') # get detailed IMU data
@@ -136,7 +139,7 @@ flix.set_armed(True) # arm the drone
flix.set_armed(False) # disarm the drone
```
You can imitate pilot's controls using `set_controls` method:
You can pass pilot's controls using `set_controls` method:
```python
flix.set_controls(roll=0, pitch=0, yaw=0, throttle=0.6)