diff --git a/.markdownlint.json b/.markdownlint.json index 52b410b..f98602c 100644 --- a/.markdownlint.json +++ b/.markdownlint.json @@ -7,6 +7,7 @@ "MD024": false, "MD033": false, "MD034": false, + "MD059": false, "MD044": { "html_elements": false, "code_blocks": false, @@ -64,5 +65,6 @@ "PX4" ] }, - "MD045": false + "MD045": false, + "MD060": false } diff --git a/Makefile b/Makefile index da7d3a4..4102d3f 100644 --- a/Makefile +++ b/Makefile @@ -32,7 +32,7 @@ simulator: build_simulator gazebo --verbose ${CURDIR}/gazebo/flix.world log: - PORT=$(PORT) tools/grab_log.py + tools/log.py plot: plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1) diff --git a/README.md b/README.md index a1d79fe..4ddc0a5 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,9 @@ -# Flix + -**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch. +

+ Flix logo
+ Flix (flight + X) — open source ESP32-based quadcopter made from scratch. +

@@ -52,25 +55,29 @@ The simulator is implemented using Gazebo and runs the original Arduino code: Flix simulator -## Articles +## Documentation + +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: -* [Assembly instructions](docs/assembly.md). -* [Usage: build, setup and flight](docs/usage.md). -* [Troubleshooting](docs/troubleshooting.md). -* [Firmware architecture overview](docs/firmware.md). -* [Python library tutorial](tools/pyflix/README.md). -* [Log analysis](docs/log.md). * [User builds gallery](docs/user.md). +* [Firmware architectural overview](docs/firmware.md). +* [Troubleshooting](docs/troubleshooting.md). +* [Log analysis](docs/log.md). ## Components |Type|Part|Image|Quantity| |-|-|:-:|:-:| |Microcontroller board|ESP32 Mini||1| -|IMU (and barometer²) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)
ICM20948V2 (ICM‑20948)³
GY-521 (MPU-6050)³⁻¹|

|1| -|Buck-boost converter (recommended)|To be determined, output 5V or 3.3V, see [user-contributed schematics](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612179508274&cot=14)||1| -|Motor|8520 3.7V brushed motor (shaft 0.8mm).
Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).||4| -|Propeller|Hubsan 55 mm||4| +|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| +|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| |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| @@ -78,19 +85,17 @@ The simulator is implemented using Gazebo and runs the original Arduino code: |Li-Po Battery charger|Any||1| |Screws for IMU board mounting|M3x5||2| |Screws for frame assembly|M1.4x5||4| -|Frame main part|3D printed⁴:
[`flix-frame-1.1.stl`](docs/assets/flix-frame-1.1.stl) [`flix-frame-1.1.step`](docs/assets/flix-frame-1.1.step)
Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.||1| -|Frame top part|3D printed:
[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)||1| -|Washer for IMU board mounting|3D printed:
[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)||2| +|Frame main part|3D printed²: [`stl`](docs/assets/flix-frame-1.1.stl) [`step`](docs/assets/flix-frame-1.1.step)
Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.||1| +|Frame top part|3D printed: [`stl`](docs/assets/esp32-holder.stl) [`step`](docs/assets/esp32-holder.step)||1| +|Washer for IMU board mounting|3D printed: [`stl`](docs/assets/washer-m3.stl) [`step`](docs/assets/washer-m3.step)||2| |Controller (recommended)|CC2500 transmitter, like BetaFPV LiteRadio CC2500 (RC receiver/Wi-Fi).
Two-sticks gamepad (Wi-Fi only) — see [recommended gamepads](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html#supported-joysticks).
Other⁵||1| -|*RC receiver (optional)*|*DF500 or other⁵*||1| +|*RC receiver (optional)*|*DF500 or other³*||1| |Wires|28 AWG recommended||| |Tape, double-sided tape|||| -*² — barometer is not used for now.*
-*³ — change `MPU9250` to `ICM20948` or `MPU6050` in `imu.ino` file for using the appropriate boards.*
-*³⁻¹ — MPU-6050 supports I²C interface only (not recommended). To use it change IMU declaration to `MPU6050 IMU(Wire)`.*
-*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*
-*⁵ — you also may use any transmitter-receiver pair with SBUS interface.* +*¹ — barometer is not used for now.*
+*² — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*
+*³ — you also may use any transmitter-receiver pair with SBUS interface.* Tools required for assembly: @@ -100,7 +105,7 @@ Tools required for assembly: * Screwdrivers. * Multimeter. -Feel free to modify the design and or code, and create your own improved versions of Flix! Send your results to the [official Telegram chat](https://t.me/opensourcequadcopterchat), or directly to the author ([E-mail](mailto:okalachev@gmail.com), [Telegram](https://t.me/okalachev)). +Feel free to modify the design and or code, and create your own improved versions. Send your results to the [official Telegram chat](https://t.me/opensourcequadcopterchat), or directly to the author ([E-mail](mailto:okalachev@gmail.com), [Telegram](https://t.me/okalachev)). ## Schematics @@ -108,7 +113,7 @@ Feel free to modify the design and or code, and create your own improved version Flix version 1 schematics -*(Dashed is optional).* +*(Dashed elements are optional).* Motor connection scheme: @@ -116,8 +121,6 @@ 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. @@ -135,14 +138,15 @@ See [assembly guide](docs/assembly.md) for instructions on assembling the drone. * Solder pull-down resistors to the MOSFETs. * Connect the motors to the ESP32 Mini using MOSFETs, by following scheme: - |Motor|Position|Direction|Wires|GPIO| - |-|-|-|-|-| - |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12 (*TDI*)| - |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13 (*TCK*)| - |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14 (*TMS*)| - |Motor 3|Front left|Clockwise|Blue & Red|GPIO15 (*TD0*)| + |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*)| - Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires. + 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. * Optionally connect the RC receiver to the ESP32's UART2: @@ -150,32 +154,18 @@ 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.* -### IMU placement +## Resources -Default IMU orientation in the code is **LFD** (Left-Forward-Down): - -GY-91 axes - -In case of using other IMU orientation, modify the `rotateIMU` function in the `imu.ino` file. - -See [FlixPeriph documentation](https://github.com/okalachev/flixperiph?tab=readme-ov-file#imu-axes-orientation) to learn axis orientation of other IMU boards. - -## Materials - -Subscribe to the Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. - -Join the official Telegram chat: https://t.me/opensourcequadcopterchat. - -Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/. - -See the information on the obsolete version 0 in the [corresponding article](docs/version0.md). +* Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. +* Official Telegram chat: https://t.me/opensourcequadcopterchat. +* Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/. ## Disclaimer -This is a fun DIY project, and I hope you find it interesting and useful. However, it's not easy to assemble and set up, and it's provided "as is" without any warranties. There’s no guarantee that it will work perfectly — or even work at all. +This is a DIY project, and I hope you find it interesting and useful. However, it's not easy to assemble and set up, and it's provided "as is" without any warranties. There's no guarantee that it will work perfectly, or even work at all. ⚠️ The author is not responsible for any damage, injury, or loss resulting from the use of this project. Use at your own risk! diff --git a/docs/assembly.md b/docs/assembly.md index ce0dd36..5f5d6d5 100644 --- a/docs/assembly.md +++ b/docs/assembly.md @@ -27,3 +27,27 @@ Soldered components ([schematics variant](https://miro.com/app/board/uXjVN-dTjoo
Assembled drone: + +## Motor directions + +> [!WARNING] +> The drone above is an early build, and it has **inversed** motor directions scheme. The photos only illustrate the assembly process in general. + +Use standard motor directions scheme: + + + +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*)| + +## Motors tightening + +Motors should be installed very tightly — any vibration may lead to bad attitude estimation and unstable flight. If motors are loose, use tiny tape pieces to fix them tightly as shown below: + + diff --git a/docs/book/firmware.md b/docs/book/firmware.md index 7f36917..eb3c1c3 100644 --- a/docs/book/firmware.md +++ b/docs/book/firmware.md @@ -12,8 +12,8 @@ * `acc` *(Vector)* — данные с акселерометра, *м/с2*. * `rates` *(Vector)* — отфильтрованные угловые скорости, *рад/с*. * `attitude` *(Quaternion)* — оценка ориентации (положения) дрона. -* `controlRoll`, `controlPitch`, ... *(float[])* — команды управления от пилота, в диапазоне [-1, 1]. -* `motors` *(float[])* — выходные сигналы на моторы, в диапазоне [0, 1]. +* `controlRoll`, `controlPitch`, `controlYaw`, `controlThrottle`, `controlMode` *(float)* — команды управления от пилота, в диапазоне [-1, 1]. +* `motors` *(float[4])* — выходные сигналы на моторы, в диапазоне [0, 1]. ## Исходные файлы @@ -35,7 +35,7 @@ ### Подсистема управления -Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в *команду управления*, которая включает следующее: +Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в **команду управления**, которая включает следующее: * `attitudeTarget` *(Quaternion)* — целевая ориентация дрона. * `ratesTarget` *(Vector)* — целевые угловые скорости, *рад/с*. diff --git a/docs/build.md b/docs/build.md deleted file mode 120000 index d59366e..0000000 --- a/docs/build.md +++ /dev/null @@ -1 +0,0 @@ -usage.md \ No newline at end of file diff --git a/docs/build.md b/docs/build.md new file mode 100644 index 0000000..c70ba7c --- /dev/null +++ b/docs/build.md @@ -0,0 +1,2 @@ + +Build instructions are moved to [usage article](usage.md). diff --git a/docs/firmware.md b/docs/firmware.md index 4ad0523..c0b817c 100644 --- a/docs/firmware.md +++ b/docs/firmware.md @@ -6,7 +6,7 @@ The firmware is a regular Arduino sketch, and it follows the classic Arduino one Firmware dataflow diagram -The main loop is running at 1000 Hz. All the dataflow goes through global variables (for simplicity): +The main loop is running at 1000 Hz. The dataflow goes through global variables, including: * `t` *(float)* — current step time, *s*. * `dt` *(float)* — time delta between the current and previous steps, *s*. @@ -14,12 +14,12 @@ The main loop is running at 1000 Hz. All the dataflow goes through global variab * `acc` *(Vector)* — acceleration data from the accelerometer, *m/s2*. * `rates` *(Vector)* — filtered angular rates, *rad/s*. * `attitude` *(Quaternion)* — estimated attitude (orientation) of drone. -* `controlRoll`, `controlPitch`, ... *(float[])* — pilot control inputs, range [-1, 1]. -* `motors` *(float[])* — motor outputs, range [0, 1]. +* `controlRoll`, `controlPitch`, `controlYaw`, `controlThrottle`, `controlMode` *(float)* — pilot control inputs, range [-1, 1]. +* `motors` *(float[4])* — motor outputs, range [0, 1]. ## Source files -Firmware source files are located in `flix` directory. The core files are: +Firmware source files are located in `flix` directory. * [`flix.ino`](../flix/flix.ino) — Arduino sketch main file, entry point.Includes some global variable definitions and the main loop. * [`imu.ino`](../flix/imu.ino) — reading data from the IMU sensor (gyroscope and accelerometer), IMU calibration. @@ -28,6 +28,7 @@ Firmware source files are located in `flix` directory. The core files are: * [`control.ino`](../flix/control.ino) — control subsystem, three-dimensional two-level cascade PID controller. * [`motors.ino`](../flix/motors.ino) — PWM motor output control. * [`mavlink.ino`](../flix/mavlink.ino) — interaction with QGroundControl or [pyflix](../tools/pyflix) via MAVLink protocol. +* [`cli.ino`](../flix/cli.ino) — serial and MAVLink console. Utility files: @@ -37,20 +38,35 @@ Utility files: ### Control subsystem -Pilot inputs are interpreted in `interpretControls()`, and then converted to the *control command*, which consists of the following: +Pilot inputs are interpreted in `interpretControls()`, and then converted to the **control command**, which consists of the following: * `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*. * `torqueTarget` *(Vector)* — target torque, range [-1, 1]. -* `thrustTarget` *(float)* — collective thrust target, range [0, 1]. +* `thrustTarget` *(float)* — collective motor thrust target, range [0, 1]. -Control command is processed in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding target is set to `NAN`. +Control command is handled in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding control target is set to `NAN`. Control subsystem diagram Armed state is stored in `armed` variable, and current mode is stored in `mode` variable. -## Building +### Console + +To write into the console, `print()` function is used. This function sends data both to the Serial console and to the MAVLink console (which can be accessed wirelessly in QGroundControl). The function supports formatting: + +```cpp +print("Test value: %.2f\n", testValue); +``` + +In order to add a console command, modify the `doCommand()` function in `cli.ino` file. + +> [!IMPORTANT] +> Avoid using delays in in-flight commands, it will **crash** the drone! (The design is one-threaded.) +> +> 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. + +## Building the firmware See build instructions in [usage.md](usage.md). diff --git a/docs/img/arduino-ide.png b/docs/img/arduino-ide.png new file mode 100644 index 0000000..24eb6e3 Binary files /dev/null and b/docs/img/arduino-ide.png differ diff --git a/docs/img/control.svg b/docs/img/control.svg index 79abe53..e5d9785 100644 --- a/docs/img/control.svg +++ b/docs/img/control.svg @@ -1,4 +1,3 @@ - -
interpretControls
controlThottle, controlYaw
controlRoll, controlPitch
controlMode
controlAttitude
controlRates
controlTorque
attitudeTarget, ratesExtra
ratesTarget
torqueTarget
thrustTarget
motors[]
in ACRO mode
 \ No newline at end of file +
interpretControls
interpretControls
controlThottle, controlYaw
controlRoll, controlPitch
controlMode
controlThottle, controlYaw...
controlAttitude
controlAttitude
controlRates
controlRates
controlTorque
controlTorque
attitudeTarget, ratesExtra
attitudeTarget, ratesExtra
ratesTarget
ratesTarget
torqueTarget
torqueTarget
thrustTarget
thrustTarget
motors[]
motors[]
in ACRO mode
in ACRO mode \ No newline at end of file diff --git a/docs/img/dataflow.svg b/docs/img/dataflow.svg index a2c545a..7c7c98d 100644 --- a/docs/img/dataflow.svg +++ b/docs/img/dataflow.svg @@ -1,4 +1,3 @@ - -
gyro, acc
estimate.ino
control.ino
rc.ino
motors.ino
rates, attitude
controlRoll, controlPitch, ...
motors[]
feedback
 \ No newline at end of file +imu.ino
gyro, acc
gyro, acc
estimate.ino
estimate.ino
control.ino
control.ino
rc.ino
rc.ino
motors.ino
motors.ino
rates, attitude
rates, attitude
controlRoll, controlPitch,
controlYaw, controlThrottle,
controlMode
controlRoll, controlPitch,...
motors[]
motors[]
feedback
feedback \ No newline at end of file diff --git a/docs/img/drone-axes-rotate.svg b/docs/img/drone-axes-rotate.svg new file mode 100644 index 0000000..05a66e4 --- /dev/null +++ b/docs/img/drone-axes-rotate.svg @@ -0,0 +1,136 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + y/left + z/up + x/forward + + + + + + + + + + + + + + + + + + + + diff --git a/docs/img/drone-axes.svg b/docs/img/drone-axes.svg new file mode 100644 index 0000000..716ad66 --- /dev/null +++ b/docs/img/drone-axes.svg @@ -0,0 +1,110 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + y/left + z/up + x/forward + + diff --git a/docs/img/flix.svg b/docs/img/flix.svg new file mode 100644 index 0000000..07c890c --- /dev/null +++ b/docs/img/flix.svg @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + diff --git a/docs/img/imu-axes.png b/docs/img/imu-axes.png new file mode 100644 index 0000000..003f03a Binary files /dev/null and b/docs/img/imu-axes.png differ diff --git a/docs/img/imu-rot-1.png b/docs/img/imu-rot-1.png new file mode 100644 index 0000000..55981b3 Binary files /dev/null and b/docs/img/imu-rot-1.png differ diff --git a/docs/img/imu-rot-2.png b/docs/img/imu-rot-2.png new file mode 100644 index 0000000..91f2978 Binary files /dev/null and b/docs/img/imu-rot-2.png differ diff --git a/docs/img/imu-rot-3.png b/docs/img/imu-rot-3.png new file mode 100644 index 0000000..80165bf Binary files /dev/null and b/docs/img/imu-rot-3.png differ diff --git a/docs/img/imu-rot-4.png b/docs/img/imu-rot-4.png new file mode 100644 index 0000000..f9c4d09 Binary files /dev/null and b/docs/img/imu-rot-4.png differ diff --git a/docs/img/imu-rot-5.png b/docs/img/imu-rot-5.png new file mode 100644 index 0000000..76e71e3 Binary files /dev/null and b/docs/img/imu-rot-5.png differ diff --git a/docs/img/imu-rot-6.png b/docs/img/imu-rot-6.png new file mode 100644 index 0000000..22b4399 Binary files /dev/null and b/docs/img/imu-rot-6.png differ diff --git a/docs/img/imu-rot-7.png b/docs/img/imu-rot-7.png new file mode 100644 index 0000000..df80a7e Binary files /dev/null and b/docs/img/imu-rot-7.png differ diff --git a/docs/img/imu-rot-8.png b/docs/img/imu-rot-8.png new file mode 100644 index 0000000..f8a44ce Binary files /dev/null and b/docs/img/imu-rot-8.png differ diff --git a/docs/img/mosfet-connection.png b/docs/img/mosfet-connection.png index 28e088c..3c432b6 100644 Binary files a/docs/img/mosfet-connection.png and b/docs/img/mosfet-connection.png differ diff --git a/docs/img/motor-tape.jpg b/docs/img/motor-tape.jpg new file mode 100644 index 0000000..77bf7dd Binary files /dev/null and b/docs/img/motor-tape.jpg differ diff --git a/docs/img/motors.svg b/docs/img/motors.svg new file mode 100644 index 0000000..a89f419 --- /dev/null +++ b/docs/img/motors.svg @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + 3 + 2 + prop A + prop B + + + + + + 1 + prop A + + + + + + 0 + prop B + + diff --git a/docs/img/qgc-attitude.png b/docs/img/qgc-attitude.png new file mode 100644 index 0000000..b672a8b Binary files /dev/null and b/docs/img/qgc-attitude.png differ diff --git a/docs/img/schematics1.svg b/docs/img/schematics1.svg index 6d22892..d5a59cd 100644 --- a/docs/img/schematics1.svg +++ b/docs/img/schematics1.svg @@ -1,3 +1,3 @@ -
ESP32
ESP32
Battery
Battery
IMU
IMU
MOSFET x4
MOSFET x4
Motors x4
Motors x4
RC Receiver
RC Receiver
SPI
SPI
PWM
PWM
PWM
PWM
SBUS (UART)
SBUS (UART)
≈3.7V
≈3.7V
Buck-Boost
Buck-Boost
≈3.7V
≈3.7V
3.3V / 5V
3.3V / 5V \ No newline at end of file +
ESP32
ESP32
Battery
Battery
IMU
IMU
MOSFET x4
MOSFET x4
Motors x4
Motors x4
RC Receiver
RC Receiver
SPI
SPI
PWM
PWM
PWM
PWM
SBUS (UART)
SBUS (UART)
≈3.7V
≈3.7V
Boost
Boost
≈3.7V
≈3.7V
5V
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The default log capacity is 10 seconds at 100 Hz. This configuration can be adjusted in the `log.ino` file. -To perform log analysis, you need to download the log right after the flight without powering off the drone. Then you can use several tools to analyze the log data. - -## Log download - -To download the log, connect the ESP32 using USB right after the flight and run the following command: +To perform log analysis, you need to download the flight log. To to that, ensure you're connected to the drone using Wi-Fi and run the following command: ```bash make log diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 7e48c93..94ce53c 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -4,7 +4,7 @@ Do the following: -* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#firmware). +* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#building-the-firmware). * **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU9250 or other peripherals libraries that may conflict with the ones used in the tutorial. * **Check the chosen board**. The correct board to choose in Arduino IDE for ESP32 Mini is *WEMOS D1 MINI ESP32*. @@ -25,13 +25,15 @@ Do the following: * 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, make sure `rotateIMU` function is defined correctly in `imu.ino` file. +* **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). * **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). * `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. Type `cr` command in Serial Monitor and follow the instructions. -* **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 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. diff --git a/docs/usage.md b/docs/usage.md index e6267a2..bfadfbf 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -1,130 +1,38 @@ # Usage: build, setup and flight -To use Flix, you need to build the firmware and upload it to the ESP32 board. For simulation, you need to build and run the simulator. +To fly Flix quadcopter, you need to build the firmware, upload it to the ESP32 board, and set up the drone for flight. -For the start, clone the repository using git: +To get the firmware sources, clone the repository using git: ```bash -git clone https://github.com/okalachev/flix.git -cd flix +git clone https://github.com/okalachev/flix.git && cd flix ``` -## Simulation +Beginners can [download the source code as a ZIP archive](https://github.com/okalachev/flix/archive/refs/heads/master.zip). -### Ubuntu +## Building the firmware -The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you have a newer version, consider using a virtual machine. - -1. Install Arduino CLI: - - ```bash - curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh - ``` - -2. Install Gazebo 11: - - ```bash - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' - wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - - sudo apt-get update - sudo apt-get install -y gazebo11 libgazebo11-dev - ``` - - Set up your Gazebo environment variables: - - ```bash - echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc - source ~/.bashrc - ``` - -3. Install SDL2 and other dependencies: - - ```bash - sudo apt-get update && sudo apt-get install build-essential libsdl2-dev - ``` - -4. Add your user to the `input` group to enable joystick support (you need to re-login after this command): - - ```bash - sudo usermod -a -G input $USER - ``` - -5. Run the simulation: - - ```bash - make simulator - ``` - -### macOS - -1. Install Homebrew package manager, if you don't have it installed: - - ```bash - /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)" - ``` - -2. Install Arduino CLI, Gazebo 11 and SDL2: - - ```bash - brew tap osrf/simulation - brew install arduino-cli - brew install gazebo11 - brew install sdl2 - ``` - - Set up your Gazebo environment variables: - - ```bash - echo "source /opt/homebrew/share/gazebo/setup.sh" >> ~/.zshrc - source ~/.zshrc - ``` - -3. Run the simulation: - - ```bash - make simulator - ``` - -### Setup - -#### Control with smartphone - -1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone. For **iOS**, use [QGroundControl build from TAJISOFT](https://apps.apple.com/ru/app/qgc-from-tajisoft/id1618653051). -2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator. -3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected. -4. Run the simulation. -5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically. -6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**. -7. Use the virtual joystick to fly the drone! - -#### Control with USB remote control - -1. Connect your USB remote control to the machine running the simulator. -2. Run the simulation. -3. Calibrate the RC using `cr` command in the command line interface. -4. Run the simulation again. -5. Use the USB remote control to fly the drone! - -## Firmware +You can build and upload the firmware using either **Arduino IDE** (easier for beginners) or **command line**. ### Arduino IDE (Windows, Linux, macOS) +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). +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. 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. -5. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master). -6. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE. -7. 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. -8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE. +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. ### Command line (Windows, Linux, macOS) 1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/). - On Linux, use: + On Linux, install it like this: ```bash curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh @@ -149,19 +57,115 @@ The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you h make upload monitor ``` -See other available Make commands in the [Makefile](../Makefile). +See other available Make commands in [Makefile](../Makefile). > [!TIP] -> You can test the firmware on a bare ESP32 board without connecting IMU and other peripherals. The Wi-Fi network `flix` should appear and all the basic functionality including CLI and QGroundControl connection should work. +> You can test the firmware on a bare ESP32 board without connecting IMU and other peripherals. The Wi-Fi network `flix` should appear and all the basic functionality including console and QGroundControl connection should work. -### Setup +## Before first flight + +### Choose the IMU model + +In case if using different IMU model than MPU9250, change `imu` variable declaration in the `imu.ino`: + +```cpp +ICM20948 imu(SPI); // For ICM-20948 +MPU6050 imu(Wire); // For MPU-6050 +``` + +### Connect using QGroundControl + +QGroundControl is a ground control station software that can be used to monitor and control the drone. + +1. Install mobile or desktop version of [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html). +2. Power up the drone. +3. Connect your computer or smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`). +4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically. + +### Access console + +The console is a command line interface (CLI) that allows to interact with the drone, change parameters, and perform various actions. There are two ways of accessing the console: using **serial port** or using **QGroundControl (wirelessly)**. + +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` in the command line). +3. In Arduino IDE, make sure the baudrate is set to 115200. + +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*. + + + +> [!TIP] +> Use `help` command to see the list of available commands. + +### Access parameters + +The drone is configured using parameters. To access and modify them, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*: + + + +You can also work with parameters using `p` command in the console. + +### 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 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: + + + +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| + +### Calibrate accelerometer Before flight you need to calibrate the accelerometer: -1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line). +1. Access the console using QGroundControl (recommended) or Serial Monitor. 2. Type `ca` command there and follow the instructions. -#### Control with smartphone +### 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: + + + +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). + + Rotation diagram: + + + +> [!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 **SBUS remote control**, or using **USB remote control** (Wi-Fi). + +### Control with a smartphone 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. @@ -171,17 +175,17 @@ Before flight you need to calibrate the accelerometer: 6. Use the virtual joystick to fly the drone! > [!TIP] -> Decrease `TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive. +> Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive. -#### Control with remote control +### Control with a 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 (Wi-Fi) +### Control with a USB remote control If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it. @@ -193,9 +197,6 @@ If your drone doesn't have RC receiver installed, you can use USB remote control 6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there. 7. Use the USB remote control to fly the drone! -> [!NOTE] -> If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article. - ## Flight For both virtual sticks and a physical joystick, the default control scheme is left stick for throttle and yaw and right stick for pitch and roll: @@ -214,6 +215,9 @@ When finished flying, **disarm** the drone, moving the left stick to the bottom +> [!NOTE] +> If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article. + ### Flight modes Flight mode is changed using mode switch on the remote control or using the command line. @@ -229,9 +233,9 @@ The default mode is *STAB*. In this mode, the drone stabilizes its attitude (ori In this mode, the pilot controls the angular rates. This control method is difficult to fly and mostly used in FPV racing. -#### MANUAL +#### RAW -Manual mode disables all the stabilization, and the pilot inputs are passed directly to the motors. This mode is intended for testing and demonstration purposes only, and basically the drone **cannot fly in this mode**. +*RAW* mode disables all the stabilization, and the pilot inputs are mixed directly to the motors. The IMU sensor is not involved. This mode is intended for testing and demonstration purposes only, and basically the drone **cannot fly in this mode**. #### AUTO @@ -239,14 +243,12 @@ In this mode, the pilot inputs are ignored (except the mode switch, if configure If the pilot moves the control sticks, the drone will switch back to *STAB* mode. -## Adjusting parameters +## Flight log -You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl app. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*. +After the flight, you can download the flight log for analysis wirelessly. Use the following for that: - +```bash +make log +``` -## CLI access - -In addition to accessing the drone's command line interface (CLI) using the serial port, you can also access it with QGroundControl using Wi-Fi connection. To do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*. - - +See more details about log analysis in the [log analysis](log.md) article. diff --git a/docs/user.md b/docs/user.md index 786aced..9f56d51 100644 --- a/docs/user.md +++ b/docs/user.md @@ -4,12 +4,67 @@ This page contains user-built drones based on the Flix project. Publish your pro --- +Author: [goldarte](https://t.me/goldarte).
+ + + +**Flight video:** + + + +--- + +## School 548 course + +Special course on quadcopter design and engineering took place in october-november 2025 in School 548, Moscow. The course included UAV control theory, electronics, drone assembly and setup practice, using the Flix project. + + + +STL files and other materials: see [here](https://drive.google.com/drive/folders/1wTUzj087LjKQQl3Lz5CjHCuobxoykhyp?usp=share_link). + +### Selected works + +Author: [KiraFlux](https://t.me/@kiraflux_0XC0000005).
+Description: **custom ESPNOW remote control** was implemented, modified firmware to support ESPNOW protocol.
+Telegram posts: [1](https://t.me/opensourcequadcopter/106), [2](https://t.me/opensourcequadcopter/114).
+Modified Flix firmware: https://github.com/KiraFlux/flix/tree/klyax.
+Remote control project: https://github.com/KiraFlux/ESP32-DJC.
+Drone design: https://github.com/KiraFlux/Klyax.
+ + + +**ESPNOW remote control demonstration**: + + + +Author: [tolyan4krut](https://t.me/tolyan4krut).
+Description: the first drone based on ESP32-S3-CAM board **with a camera**, implementing Wi-Fi video streaming. Runs HTTP server and HTTP video stream.
+Modified Flix firmware: https://github.com/CatRey/Flix-Camera-Streaming.
+[Telegram post](https://t.me/opensourcequadcopter/117). + + + +**Video streaming and flight demonstration**: + + + +Author: [Vlad Tolshinov](https://t.me/Vlad_Tolshinov).
+Description: custom frame with enlarged arm length, which provides very high flight stability, 65 mm props. + + + +**Flight video**: + + + +--- + ## RoboCamp Author: RoboCamp participants.
Description: 3D-printed and wooden frames, ESP32 Mini, DC-DC buck-boost converters. BetaFPV LiteRadio 3 to control the drones via Wi-Fi connection.
Features: altitude hold, obstacle avoidance, autonomous flight elements.
-Some of the designed model files: https://drive.google.com/drive/folders/18YHWGquKeIevzrMH4-OUT-zKXMETTEUu?usp=share_link. +Some of the designed model files: see [here](https://drive.google.com/drive/folders/18YHWGquKeIevzrMH4-OUT-zKXMETTEUu?usp=share_link). RoboCamp took place in July 2025, Saint Petersburg, where 9 participants designed and built their own drones using the Flix project, and then modified the firmware to complete specific flight tasks. diff --git a/docs/version0.md b/docs/version0.md index d8dd9c4..d2e43d1 100644 --- a/docs/version0.md +++ b/docs/version0.md @@ -14,7 +14,7 @@ Flix version 0 (obsolete): |Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)||4| |Propeller|Hubsan 55 mm||4| |Motor ESC|2.7A 1S Dual Way Micro Brush ESC||4| -|RC transmitter|KINGKONG TINY X8||1| +|RC transmitter|KINGKONG TINY X8||1| |RC receiver|DF500 (SBUS)||1| |~~SBUS inverter~~*|||~~1~~| |Battery|3.7 Li-Po 850 MaH 60C||| diff --git a/flix/cli.cpp b/flix/cli.cpp index 76372db..17f5808 100644 --- a/flix/cli.cpp +++ b/flix/cli.cpp @@ -10,9 +10,10 @@ #include "util.h" extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; -extern const int ACRO, STAB, AUTO; +extern const int RAW, ACRO, STAB, AUTO; extern float t, dt, loopRate; extern uint16_t channels[16]; +extern float controlTime; extern int mode; extern bool armed; @@ -36,10 +37,11 @@ const char* motd = "imu - show IMU data\n" "arm - arm the drone\n" "disarm - disarm the drone\n" -"stab/acro/auto - set mode\n" +"raw/stab/acro/auto - set mode\n" "rc - show RC data\n" +"wifi - show Wi-Fi info\n" "mot - show motor output\n" -"log - dump in-RAM log\n" +"log [dump] - print log header [and data]\n" "cr - calibrate RC\n" "ca - calibrate accel\n" "mfr, mfl, mrr, mrl - test motor (remove props)\n" @@ -75,9 +77,10 @@ void doCommand(String str, bool echo) { // parse command String command, arg0, arg1; splitString(str, command, arg0, arg1); + if (command.isEmpty()) return; // echo command - if (echo && !command.isEmpty()) { + if (echo) { print("> %s\n", str.c_str()); } @@ -116,6 +119,8 @@ void doCommand(String str, bool echo) { armed = true; } else if (command == "disarm") { armed = false; + } else if (command == "raw") { + mode = RAW; } else if (command == "stab") { mode = STAB; } else if (command == "acro") { @@ -129,13 +134,19 @@ void doCommand(String str, bool echo) { } print("\nroll: %g pitch: %g yaw: %g throttle: %g mode: %g\n", controlRoll, controlPitch, controlYaw, controlThrottle, controlMode); + print("time: %.1f\n", controlTime); print("mode: %s\n", getModeName()); print("armed: %d\n", armed); + } else if (command == "wifi") { +#if WIFI_ENABLED + printWiFiInfo(); +#endif } 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]); } else if (command == "log") { - dumpLog(); + printLogHeader(); + if (arg0 == "dump") printLogData(); } else if (command == "cr") { calibrateRC(); } else if (command == "ca") { @@ -171,8 +182,6 @@ void doCommand(String str, bool echo) { attitude = Quaternion(); } else if (command == "reboot") { ESP.restart(); - } else if (command == "") { - // do nothing } else { print("Invalid command: %s\n", command.c_str()); } diff --git a/flix/control.cpp b/flix/control.cpp index 93db2a0..e5f9a0c 100644 --- a/flix/control.cpp +++ b/flix/control.cpp @@ -10,13 +10,10 @@ #include "lpf.h" #include "util.h" -extern const int MANUAL = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes -extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; +extern const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes int mode = STAB; bool armed = false; -float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; -float controlTime; Quaternion attitudeTarget; Vector ratesTarget; @@ -33,6 +30,9 @@ PID yawPID(YAW_P, 0, 0); Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX); float tiltMax = TILT_MAX; +extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; +extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; + void control() { interpretControls(); failsafe(); @@ -42,7 +42,6 @@ void control() { } void interpretControls() { - // NOTE: put ACRO or MANUAL modes there if you want to use them if (controlMode < 0.25) mode = STAB; if (controlMode < 0.75) mode = STAB; if (controlMode > 0.75) mode = STAB; @@ -52,6 +51,8 @@ void interpretControls() { if (controlThrottle < 0.05 && controlYaw > 0.95) armed = true; // arm gesture if (controlThrottle < 0.05 && controlYaw < -0.95) armed = false; // disarm gesture + if (abs(controlYaw) < 0.1) controlYaw = 0; // yaw dead zone + thrustTarget = controlThrottle; if (mode == STAB) { @@ -68,10 +69,10 @@ void interpretControls() { ratesTarget.z = -controlYaw * maxRate.z; // positive yaw stick means clockwise rotation in FLU } - if (mode == MANUAL) { // passthrough mode + if (mode == RAW) { // direct torque control attitudeTarget.invalidate(); // skip attitude control ratesTarget.invalidate(); // skip rate control - torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.01; + torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.1; } } @@ -132,7 +133,7 @@ void controlTorque() { const char* getModeName() { switch (mode) { - case MANUAL: return "MANUAL"; + case RAW: return "RAW"; case ACRO: return "ACRO"; case STAB: return "STAB"; case AUTO: return "AUTO"; diff --git a/flix/estimate.cpp b/flix/estimate.cpp index 08c1a43..01303a3 100644 --- a/flix/estimate.cpp +++ b/flix/estimate.cpp @@ -10,9 +10,12 @@ #include "lpf.h" #include "util.h" -Vector rates; // filtered angular rates, rad/s +Vector rates; // estimated angular rates, rad/s Quaternion attitude; // estimated attitude -bool landed; // are we landed and stationary +bool landed; + +float accWeight = 0.003; +LowPassFilter ratesFilter(0.2); // cutoff frequency ~ 40 Hz void estimate() { applyGyro(); @@ -21,7 +24,6 @@ void estimate() { void applyGyro() { // filter gyro to get angular rates - static LowPassFilter ratesFilter(RATES_LFP_ALPHA); rates = ratesFilter.update(gyro); // apply rates to attitude @@ -37,7 +39,7 @@ void applyAcc() { // calculate accelerometer correction Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude); - Vector correction = Vector::rotationVectorBetween(acc, up) * WEIGHT_ACC; + Vector correction = Vector::rotationVectorBetween(acc, up) * accWeight; // apply correction attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction)); diff --git a/flix/flix.h b/flix/flix.h index 64e8203..dd1e5de 100644 --- a/flix/flix.h +++ b/flix/flix.h @@ -9,22 +9,19 @@ #include "vector.h" #include "quaternion.h" -// The most used global variables: -extern float t; // current step time, s -extern float dt; // time delta from previous step, s -extern Vector gyro; // gyroscope data -extern Vector acc; // accelerometer data, m/s² -extern Vector rates; // filtered angular rates, rad/s -extern Quaternion attitude; // estimated attitude -extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; // pilot inputs, range [-1, 1] -extern float controlTime; // inputs last update time +extern float t, dt; +extern float loopRate; +extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; +extern Vector gyro, acc; +extern Vector rates; +extern Quaternion attitude; +extern bool landed; extern int mode; extern bool armed; -extern Vector ratesTarget, ratesExtra, torqueTarget; extern Quaternion attitudeTarget; +extern Vector ratesTarget, ratesExtra, torqueTarget; extern float thrustTarget; -extern bool landed; // are we landed and stationary -extern float motors[4]; // normalized motors thrust in range [0..1] +extern float motors[4]; void print(const char* format, ...); void pause(float duration); @@ -53,7 +50,8 @@ void setLED(bool on); void blinkLED(); void prepareLogData(); void logData(); -void dumpLog(); +void printLogHeader(); +void printLogData(); void processMavlink(); void sendMavlink(); void sendMessage(const void *msg); diff --git a/flix/imu.cpp b/flix/imu.cpp index 88d8bc4..22cf3e3 100644 --- a/flix/imu.cpp +++ b/flix/imu.cpp @@ -10,11 +10,14 @@ #include "util.h" MPU9250 imu(SPI); +Vector imuRotation(0, 0, -PI / 2); // imu orientation as Euler angles -Vector gyro, gyroBias; -Vector acc, accBias, accScale(1, 1, 1); +Vector gyro; // gyroscope output, rad/s +Vector gyroBias; -extern float loopRate; +Vector acc; // accelerometer output, m/s/s +Vector accBias; +Vector accScale(1, 1, 1); void setupIMU() { print("Setup IMU\n"); @@ -38,24 +41,18 @@ void readIMU() { // apply scale and bias acc = (acc - accBias) / accScale; gyro = gyro - gyroBias; - // rotate - rotateIMU(acc); - rotateIMU(gyro); -} - -void rotateIMU(Vector& data) { - // Rotate from LFD to FLU - // NOTE: In case of using other IMU orientation, change this line: - data = Vector(data.y, data.x, -data.z); - // Axes orientation for various boards: https://github.com/okalachev/flixperiph#imu-axes-orientation + // rotate to body frame + Quaternion rotation = Quaternion::fromEuler(imuRotation); + acc = Quaternion::rotateVector(acc, rotation.inversed()); + gyro = Quaternion::rotateVector(gyro, rotation.inversed()); } void calibrateGyroOnce() { static Delay landedDelay(2); if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary - static LowPassFilter gyroCalibrationFilter(0.001); - gyroBias = gyroCalibrationFilter.update(gyro); + static LowPassFilter gyroBiasFilter(0.001); + gyroBias = gyroBiasFilter.update(gyro); } void calibrateAccel() { diff --git a/flix/log.cpp b/flix/log.cpp index 04220ae..062914e 100644 --- a/flix/log.cpp +++ b/flix/log.cpp @@ -5,10 +5,10 @@ #include "flix.h" #include "vector.h" +#include "util.h" #define LOG_RATE 100 #define LOG_DURATION 10 -#define LOG_PERIOD 1.0 / LOG_RATE #define LOG_SIZE LOG_DURATION * LOG_RATE Vector attitudeEuler; @@ -47,9 +47,8 @@ void prepareLogData() { void logData() { if (!armed) return; static int logPointer = 0; - static float logTime = 0; - if (t - logTime < LOG_PERIOD) return; - logTime = t; + static Rate period(LOG_RATE); + if (!period) return; prepareLogData(); @@ -63,12 +62,13 @@ void logData() { } } -void dumpLog() { - // Print header +void printLogHeader() { for (int i = 0; i < logColumns; i++) { print("%s%s", logEntries[i].name, i < logColumns - 1 ? "," : "\n"); } - // Print data +} + +void printLogData() { for (int i = 0; i < LOG_SIZE; i++) { if (logBuffer[i][0] == 0) continue; // skip empty records for (int j = 0; j < logColumns; j++) { diff --git a/flix/mavlink.cpp b/flix/mavlink.cpp index 062aecd..8ec5564 100644 --- a/flix/mavlink.cpp +++ b/flix/mavlink.cpp @@ -10,17 +10,18 @@ #if WIFI_ENABLED #include +#include "util.h" -#define PERIOD_SLOW 1.0 -#define PERIOD_FAST 0.1 -#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f - -String mavlinkPrintBuffer; +#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 float controlTime; -extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; -extern const int STAB, AUTO; + +bool mavlinkConnected = false; +String mavlinkPrintBuffer; void processMavlink() { sendMavlink(); @@ -30,15 +31,12 @@ void processMavlink() { void sendMavlink() { sendMavlinkPrint(); - static float lastSlow = 0; - static float lastFast = 0; - mavlink_message_t msg; uint32_t time = t * 1000; - if (t - lastSlow >= PERIOD_SLOW) { - lastSlow = t; + 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, (armed ? MAV_MODE_FLAG_SAFETY_ARMED : 0) | ((mode == STAB) ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0) | @@ -46,14 +44,14 @@ void sendMavlink() { mode, MAV_STATE_STANDBY); sendMessage(&msg); + if (!mavlinkConnected) return; // send only heartbeat until connected + mavlink_msg_extended_sys_state_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR); sendMessage(&msg); } - if (t - lastFast >= PERIOD_FAST) { - lastFast = t; - + 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 @@ -85,6 +83,7 @@ void sendMessage(const void *msg) { void receiveMavlink() { uint8_t buf[MAVLINK_MAX_PACKET_LEN]; int len = receiveWiFi(buf, MAVLINK_MAX_PACKET_LEN); + if (len) mavlinkConnected = true; // New packet, parse it mavlink_message_t msg; @@ -110,8 +109,6 @@ void handleMavlink(const void *_msg) { controlYaw = m.r / 1000.0f; controlMode = NAN; controlTime = t; - - if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0; } if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) { @@ -215,6 +212,22 @@ void handleMavlink(const void *_msg) { armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0; } + /* TODO: + 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; + + // 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, + sizeof(logBuffer[0]), (uint8_t *)logBuffer[i]); + sendMessage(&msg); + } + } + */ + // Handle commands if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) { mavlink_command_long_t m; diff --git a/flix/motors.cpp b/flix/motors.cpp index 20b45e1..9512614 100644 --- a/flix/motors.cpp +++ b/flix/motors.cpp @@ -9,7 +9,19 @@ #include "flix.h" #include "util.h" -float motors[4]; // normalized motors thrust in range [0..1] +#define MOTOR_0_PIN 12 // rear left +#define MOTOR_1_PIN 13 // rear right +#define MOTOR_2_PIN 14 // front right +#define MOTOR_3_PIN 15 // front left + +#define PWM_FREQUENCY 78000 +#define PWM_RESOLUTION 10 +#define PWM_STOP 0 +#define PWM_MIN 0 +#define PWM_MAX 1000000 / PWM_FREQUENCY + +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; @@ -30,9 +42,9 @@ void setupMotors() { int getDutyCycle(float value) { value = constrain(value, 0, 1); - float pwm = mapff(value, 0, 1, PWM_MIN, PWM_MAX); + float pwm = mapf(value, 0, 1, PWM_MIN, PWM_MAX); if (value == 0) pwm = PWM_STOP; - float duty = mapff(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1); + float duty = mapf(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1); return round(duty); } diff --git a/flix/parameters.cpp b/flix/parameters.cpp index 6842126..5b510a7 100644 --- a/flix/parameters.cpp +++ b/flix/parameters.cpp @@ -6,6 +6,8 @@ #include #include "flix.h" #include "pid.h" +#include "lpf.h" +#include "util.h" extern float channelZero[16]; extern float channelMax[16]; @@ -14,47 +16,56 @@ extern float tiltMax; 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; Preferences storage; struct Parameter { - const char *name; // max length is 16 + const char *name; // max length is 15 (Preferences key limit) float *variable; float value; // cache }; Parameter parameters[] = { // control - {"ROLLRATE_P", &rollRatePID.p}, - {"ROLLRATE_I", &rollRatePID.i}, - {"ROLLRATE_D", &rollRatePID.d}, - {"ROLLRATE_I_LIM", &rollRatePID.windup}, - {"PITCHRATE_P", &pitchRatePID.p}, - {"PITCHRATE_I", &pitchRatePID.i}, - {"PITCHRATE_D", &pitchRatePID.d}, - {"PITCHRATE_I_LIM", &pitchRatePID.windup}, - {"YAWRATE_P", &yawRatePID.p}, - {"YAWRATE_I", &yawRatePID.i}, - {"YAWRATE_D", &yawRatePID.d}, - {"ROLL_P", &rollPID.p}, - {"ROLL_I", &rollPID.i}, - {"ROLL_D", &rollPID.d}, - {"PITCH_P", &pitchPID.p}, - {"PITCH_I", &pitchPID.i}, - {"PITCH_D", &pitchPID.d}, - {"YAW_P", &yawPID.p}, - {"PITCHRATE_MAX", &maxRate.y}, - {"ROLLRATE_MAX", &maxRate.x}, - {"YAWRATE_MAX", &maxRate.z}, - {"TILT_MAX", &tiltMax}, + {"CTL_R_RATE_P", &rollRatePID.p}, + {"CTL_R_RATE_I", &rollRatePID.i}, + {"CTL_R_RATE_D", &rollRatePID.d}, + {"CTL_R_RATE_WU", &rollRatePID.windup}, + {"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_Y_RATE_P", &yawRatePID.p}, + {"CTL_Y_RATE_I", &yawRatePID.i}, + {"CTL_Y_RATE_D", &yawRatePID.d}, + {"CTL_R_P", &rollPID.p}, + {"CTL_R_I", &rollPID.i}, + {"CTL_R_D", &rollPID.d}, + {"CTL_P_P", &pitchPID.p}, + {"CTL_P_I", &pitchPID.i}, + {"CTL_P_D", &pitchPID.d}, + {"CTL_Y_P", &yawPID.p}, + {"CTL_P_RATE_MAX", &maxRate.y}, + {"CTL_R_RATE_MAX", &maxRate.x}, + {"CTL_Y_RATE_MAX", &maxRate.z}, + {"CTL_TILT_MAX", &tiltMax}, // imu - {"ACC_BIAS_X", &accBias.x}, - {"ACC_BIAS_Y", &accBias.y}, - {"ACC_BIAS_Z", &accBias.z}, - {"ACC_SCALE_X", &accScale.x}, - {"ACC_SCALE_Y", &accScale.y}, - {"ACC_SCALE_Z", &accScale.z}, + {"IMU_ROT_ROLL", &imuRotation.x}, + {"IMU_ROT_PITCH", &imuRotation.y}, + {"IMU_ROT_YAW", &imuRotation.z}, + {"IMU_ACC_BIAS_X", &accBias.x}, + {"IMU_ACC_BIAS_Y", &accBias.y}, + {"IMU_ACC_BIAS_Z", &accBias.z}, + {"IMU_ACC_SCALE_X", &accScale.x}, + {"IMU_ACC_SCALE_Y", &accScale.y}, + {"IMU_ACC_SCALE_Z", &accScale.z}, + // estimate + {"EST_ACC_WEIGHT", &accWeight}, + {"EST_RATES_LPF_A", &ratesFilter.alpha}, // rc {"RC_ZERO_0", &channelZero[0]}, {"RC_ZERO_1", &channelZero[1]}, @@ -125,10 +136,9 @@ bool setParameter(const char *name, const float value) { } void syncParameters() { - static float lastSync = 0; - if (t - lastSync < 1) return; // sync once per second + static Rate rate(1); + if (!rate) return; // sync once per second if (motorsActive()) return; // don't use flash while flying, it may cause a delay - lastSync = t; for (auto ¶meter : parameters) { if (parameter.value == *parameter.variable) continue; diff --git a/flix/rc.cpp b/flix/rc.cpp index 456fb1c..5702316 100644 --- a/flix/rc.cpp +++ b/flix/rc.cpp @@ -6,12 +6,16 @@ #include #include "util.h" -SBUS rc(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins +SBUS rc(Serial2); uint16_t channels[16]; // raw rc channels float channelZero[16]; // calibration zero values float 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) + // Channels mapping (using float to store in parameters): float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN; @@ -37,11 +41,11 @@ void normalizeRC() { controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1); } // Update control values - controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : NAN; - controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN; - controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN; - controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN; - controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN; + 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 } void calibrateRC() { diff --git a/flix/time.cpp b/flix/time.cpp index c577438..f3bab86 100644 --- a/flix/time.cpp +++ b/flix/time.cpp @@ -6,8 +6,8 @@ #include "Arduino.h" #include "flix.h" -float t = NAN; // current step time, s -float dt; // time delta from previous step, s +float t = NAN; // current time, s +float dt; // time delta with the previous step, s float loopRate; // Hz void step() { diff --git a/flix/util.h b/flix/util.h index 4be449b..a8ce398 100644 --- a/flix/util.h +++ b/flix/util.h @@ -12,11 +12,7 @@ const float ONE_G = 9.80665; -inline float mapf(long x, long in_min, long in_max, float out_min, float out_max) { - return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min; -} - -inline float mapff(float x, float in_min, float in_max, float out_min, float out_max) { +inline float mapf(float x, float in_min, float in_max, float out_min, float out_max) { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } @@ -54,20 +50,34 @@ inline void splitString(String& str, String& token0, String& token1, String& tok token2 = strtok(NULL, ""); } +// Rate limiter +class Rate { +public: + float rate; + float last = 0; + Rate(float rate) : rate(rate) {} + + operator bool() { + if (t - last >= 1 / rate) { + last = t; + return true; + } + return false; + } +}; + // Delay filter for boolean signals - ensures the signal is on for at least 'delay' seconds class Delay { public: float delay; float start = NAN; - Delay(float delay) : delay(delay) {} bool update(bool on) { if (!on) { start = NAN; return false; - } - if (isnan(start)) { + } else if (isnan(start)) { start = t; } return t - start >= delay; diff --git a/flix/vector.h b/flix/vector.h index 107e30a..773d916 100644 --- a/flix/vector.h +++ b/flix/vector.h @@ -37,7 +37,6 @@ public: z = NAN; } - float norm() const { return sqrt(x * x + y * y + z * z); } diff --git a/flix/wifi.cpp b/flix/wifi.cpp index e596c03..23e03a2 100644 --- a/flix/wifi.cpp +++ b/flix/wifi.cpp @@ -14,6 +14,8 @@ WiFiUDP udp; +extern bool mavlinkConnected; + void setupWiFi() { print("Setup Wi-Fi\n"); WiFi.softAP(WIFI_SSID, WIFI_PASSWORD); @@ -32,4 +34,15 @@ int receiveWiFi(uint8_t *buf, int len) { 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()); + print("MAVLink connected: %d\n", mavlinkConnected); +} + #endif diff --git a/gazebo/README.md b/gazebo/README.md index c7e2608..226312a 100644 --- a/gazebo/README.md +++ b/gazebo/README.md @@ -1,15 +1,99 @@ -# Gazebo Simulation +# Simulation -Flix simulator +The Flix drone simulator is based on Gazebo 11 and runs the firmware code in virtual physical environment. -## Building and running +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. -See [building and running instructions](../docs/usage.md#simulation). +Flix simulator running on macOS + +## Installation + +1. Clone the Flix repository using it: + + ```bash + git clone https://github.com/okalachev/flix.git && cd flix + ``` + +2. Install Arduino CLI: + + ```bash + curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh + ``` + +3. Install Gazebo 11: + + ```bash + sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' + wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - + sudo apt-get update + sudo apt-get install -y gazebo11 libgazebo11-dev + ``` + + Set up your Gazebo environment variables: + + ```bash + echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc + source ~/.bashrc + ``` + +4. Install SDL2 and other dependencies: + + ```bash + sudo apt-get update && sudo apt-get install build-essential libsdl2-dev + ``` + +5. Add your user to the `input` group to enable joystick support (you need to re-login after this command): + + ```bash + sudo usermod -a -G input $USER + ``` + +6. Run the simulation: + + ```bash + make simulator + ``` + +## Usage + +Just like the real drone, the simulator can be controlled using a USB remote control or a smartphone. + +### Control with smartphone + +1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone. For **iOS**, use [QGroundControl build from TAJISOFT](https://apps.apple.com/ru/app/qgc-from-tajisoft/id1618653051). +2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator. +3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected. +4. Run the simulation. +5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically. +6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**. +7. Use the virtual joystick to fly the drone! + +> [!TIP] +> Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive. + +### Control with USB remote control + +1. Connect your USB remote control to the machine running the simulator. +2. Run the simulation. +3. Calibrate the RC using `cr` command in the command line interface. +4. Use the USB remote control to fly the drone! + +### Piloting + +To start the flight, arm the drone moving the throttle stick to the bottom right position: + + + +To disarm, move the throttle stick to the bottom left position: + + + +See other piloting and usage details in general [usage article](../docs/usage.md). ## Code structure -Flix simulator is based on [Gazebo Classic](https://classic.gazebosim.org) and consists of the following components: +Flix simulator consists of the following components: -* Physical model of the drone: [`models/flix/flix.sdf`](models/flix/flix.sdf). +* Physical model of the drone in Gazebo format: [`models/flix/flix.sdf`](models/flix/flix.sdf). * Plugin for Gazebo: [`simulator.cpp`](simulator.cpp). The plugin is attached to the physical model. It receives stick positions from the controller, gets the data from the virtual sensors, and then passes this data to the Arduino code. -* Arduino imitation: [`Arduino.h`](Arduino.h). This file contains partial implementation of the Arduino API, that is working within Gazebo plugin environment. +* Arduino emulation: [`Arduino.h`](Arduino.h). This file contains partial implementation of the Arduino API, that is working within Gazebo plugin environment. diff --git a/gazebo/flix.h b/gazebo/flix.h index cc0af04..91d72c4 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -12,16 +12,15 @@ #define WIFI_ENABLED 1 -float t = NAN; -float dt; -float motors[4]; -float controlRoll, controlPitch, controlYaw, controlThrottle = NAN; -float controlMode = NAN; -Vector acc; -Vector gyro; -Vector rates; -Quaternion attitude; -bool landed; +extern float t, dt; +extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; +extern Vector rates; +extern Quaternion attitude; +extern bool landed; +extern float motors[4]; + +Vector gyro, acc, imuRotation; +Vector accBias, gyroBias, accScale(1, 1, 1); // declarations void step(); @@ -45,7 +44,8 @@ void normalizeRC(); void calibrateRC(); void calibrateRCChannel(float *channel, uint16_t zero[16], uint16_t max[16], const char *str); void printRCCalibration(); -void dumpLog(); +void printLogHeader(); +void printLogData(); void processMavlink(); void sendMavlink(); void sendMessage(const void *msg); @@ -72,4 +72,4 @@ void calibrateGyro() { print("Skip gyro calibrating\n"); }; void calibrateAccel() { print("Skip accel calibrating\n"); }; void printIMUCalibration() { print("cal: N/A\n"); }; void printIMUInfo() {}; -Vector accBias, gyroBias, accScale(1, 1, 1); +void printWiFiInfo() {}; diff --git a/tools/log.py b/tools/log.py index 547f48a..a1e3f1a 100755 --- a/tools/log.py +++ b/tools/log.py @@ -3,21 +3,49 @@ # Download flight log remotely and save to file import os +import time import datetime +import struct +from pymavlink.dialects.v20.common import MAVLink_log_data_message from pyflix import Flix DIR = os.path.dirname(os.path.realpath(__file__)) - flix = Flix() print('Downloading log...') -lines = flix.cli('log').splitlines() -# sort by timestamp -header = lines.pop(0) -lines.sort(key=lambda line: float(line.split(',')[0])) +header = flix.cli('log') +print('Received header:\n- ' + '\n- '.join(header.split(','))) + +records = [] + +def on_record(msg: MAVLink_log_data_message): + global stop + stop = time.time() + 1 # extend timeout + records.append([]) + i = 0 + data = bytes(msg.data) + while i + 4 <= msg.count: + records[-1].append(struct.unpack(' [!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: + + + +All angles are in radians. ### Events @@ -92,24 +95,24 @@ Full list of events: |`armed`|Armed state update|Armed state (*bool*)| |`mode`|Flight mode update|Flight mode (*str*)| |`landed`|Landed state update|Landed state (*bool*)| -|`print`|The drone sends text to the console|Text| +|`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`|Motors outputs update|Motors outputs (*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| |`value`|Named value update (see below)|Name, value| -|`value.`|Specific named value update (see bellow)|Value| +|`value.`|Specific named value update (see below)|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 piece of data from the drone, and do not mean the value has changed. -### Common methods +### Basic methods Get and set firmware parameters using `get_param` and `set_param` 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 the 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) @@ -166,10 +169,10 @@ Setting angular rates target: flix.set_rates([0.1, 0.2, 0.3], 0.6) # set target roll rate, pitch rate, yaw rate and thrust ``` -You also can control raw motors outputs directly: +You also can control raw motor outputs directly: ```python -flix.set_motors([0.5, 0.5, 0.5, 0.5]) # set motors outputs in range [0, 1] +flix.set_motors([0.5, 0.5, 0.5, 0.5]) # set motor outputs in range [0, 1] ``` In *AUTO* mode, the drone will arm automatically if the thrust is greater than zero, and disarm if thrust is zero. Therefore, to disarm the drone, set thrust to zero: @@ -183,7 +186,7 @@ The following methods are in development and are not functional yet: * `set_position` — set target position. * `set_velocity` — set target velocity. -To exit from *AUTO* mode move control sticks and the drone will switch to *STAB* mode. +To exit *AUTO* mode move control sticks and the drone will switch to *STAB* mode. ## Usage alongside QGroundControl diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py index 2ee9729..a12d25f 100644 --- a/tools/pyflix/flix.py +++ b/tools/pyflix/flix.py @@ -17,7 +17,7 @@ from pymavlink.dialects.v20 import common as mavlink logger = logging.getLogger('flix') if not logger.hasHandlers(): handler = logging.StreamHandler() - handler.setFormatter(logging.Formatter('%(name)s - %(levelname)s - %(message)s')) + handler.setFormatter(logging.Formatter('%(name)s: %(message)s')) logger.addHandler(handler) logger.setLevel(logging.INFO) @@ -40,7 +40,7 @@ class Flix: _connection_timeout = 3 _print_buffer: str = '' - _modes = ['MANUAL', 'ACRO', 'STAB', 'AUTO'] + _modes = ['RAW', 'ACRO', 'STAB', 'AUTO'] def __init__(self, system_id: int=1, wait_connection: bool=True): if not (0 <= system_id < 256): diff --git a/tools/pyproject.toml b/tools/pyproject.toml index 673fca6..5ec9593 100644 --- a/tools/pyproject.toml +++ b/tools/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyflix" -version = "0.9" +version = "0.11" description = "Python API for Flix drone" authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] license = "MIT"