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Oleg Kalachev
2026-08-10 03:16:54 +03:00
parent 9a17ca848d
commit 8ae06eef85
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docs/usage.md
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@@ -113,14 +113,14 @@ You can also work with parameters using `p` command in the console. Parameter na
### Configure the IMU
1. Configure the following parameters for the used IMU:
* `IMU_MODEL` — IMU model (0 for disabled, 1 for MPU-9250/MPU-6500¹, 2 for ICM-20948, 3 for MPU-6050, 4 for ICM-40609-D).
1. Configure the following parameters for the IMU:
* `IMU_MODEL` — IMU model (1 for MPU-9250/MPU-6500¹, 2 for ICM-20948, 3 for MPU-6050, 4 for ICM-40609-D).
* `IMU_BUS` — communication bus (0 for SPI, 1 for I²C).
* `IMU_PIN_SCK`, `IMU_PIN_MISO`, `IMU_PIN_MOSI`, `IMU_PIN_CS` — SPI pin numbers.
* `IMU_PIN_SCL`, `IMU_PIN_SDA` — I²C pin numbers.
* `IMU_PIN_INT` — IMU data ready pin number (-1 if not used).
2. Reboot the drone.
3. Check the IMU is working using `imu` command in the console (see details below).
3. Check the IMU is working using `imu` command in the console (should print `status: OK`).
¹ — not to be confused with MPU-6050.
@@ -164,7 +164,7 @@ In case of using brushless motors with ESCs:
> [!CAUTION]
> **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them.
### Battery voltage monitoring
### Battery voltage monitoring (optional)
ESP32 ADC can measure only up to 3.3 V, so you need to use a voltage divider to monitor the battery voltage. To enable voltage measurement, set the following parameters: