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Many updates to documentation

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Updates to main readme.
Add much more info to usage article.
Move simulator building to simulation's readme.
Improve assembly article.
Many fixes.
Updates in diagrams.
This commit is contained in:
Oleg Kalachev
2025-11-06 13:46:25 +03:00
parent 0e6651ab82
commit 774144c430
14 changed files with 344 additions and 186 deletions
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23
docs/firmware.md
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@@ -6,7 +6,7 @@ The firmware is a regular Arduino sketch, and it follows the classic Arduino one
<img src="img/dataflow.svg" width=600 alt="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/s<sup>2</sup>*.
* `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:
@@ -45,12 +46,22 @@ Pilot inputs are interpreted in `interpretControls()`, and then converted to the
* `torqueTarget` *(Vector)* — target torque, range [-1, 1].
* `thrustTarget` *(float)* — collective 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`.
<img src="img/control.svg" width=300 alt="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.
## Building the firmware
See build instructions in [usage.md](usage.md).