From 0e6651ab8258308e4734839019abd8555092db04 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 6 Nov 2025 13:41:33 +0300 Subject: [PATCH 001/154] Add Rate class for running the code at fixed rate --- flix/log.ino | 7 +++---- flix/mavlink.ino | 16 ++++++---------- flix/parameters.ino | 6 +++--- flix/util.h | 20 +++++++++++++++++--- 4 files changed, 29 insertions(+), 20 deletions(-) diff --git a/flix/log.ino b/flix/log.ino index 396bbed..0309ee4 100644 --- a/flix/log.ino +++ b/flix/log.ino @@ -4,10 +4,10 @@ // In-RAM logging #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; @@ -46,9 +46,8 @@ 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(); diff --git a/flix/mavlink.ino b/flix/mavlink.ino index 8b30e6a..7d90517 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -6,10 +6,11 @@ #if WIFI_ENABLED #include +#include "util.h" #define SYSTEM_ID 1 -#define PERIOD_SLOW 1.0 -#define PERIOD_FAST 0.1 +#define MAVLINK_RATE_SLOW 1 +#define MAVLINK_RATE_FAST 10 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f bool mavlinkConnected = false; @@ -26,15 +27,12 @@ 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) | @@ -49,9 +47,7 @@ void sendMavlink() { sendMessage(&msg); } - if (t - lastFast >= PERIOD_FAST && mavlinkConnected) { - 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 diff --git a/flix/parameters.ino b/flix/parameters.ino index ef2f6a3..265f966 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -4,6 +4,7 @@ // Parameters storage in flash memory #include +#include "util.h" extern float channelZero[16]; extern float channelMax[16]; @@ -118,10 +119,9 @@ 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/util.h b/flix/util.h index 21c416a..025cd5e 100644 --- a/flix/util.h +++ b/flix/util.h @@ -50,20 +50,34 @@ void splitString(String& str, String& token0, String& token1, String& token2) { 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; From 774144c43039e80ec3ed2b1e5f6190302ed6daff Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 6 Nov 2025 13:46:25 +0300 Subject: [PATCH 002/154] Many updates to documentation 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. --- README.md | 73 ++++++------- docs/assembly.md | 24 +++++ docs/book/firmware.md | 4 +- docs/build.md | 3 +- docs/firmware.md | 23 +++-- docs/img/control.svg | 3 +- docs/img/dataflow.svg | 3 +- docs/img/motor-tape.jpg | Bin 0 -> 62136 bytes docs/img/motors.svg | 89 ++++++++++++++++ docs/img/qgc-attitude.png | Bin 0 -> 15989 bytes docs/img/schematics1.svg | 2 +- docs/troubleshooting.md | 2 + docs/usage.md | 209 ++++++++++++++++---------------------- gazebo/README.md | 95 +++++++++++++++-- 14 files changed, 344 insertions(+), 186 deletions(-) mode change 120000 => 100644 docs/build.md create mode 100644 docs/img/motor-tape.jpg create mode 100644 docs/img/motors.svg create mode 100644 docs/img/qgc-attitude.png diff --git a/README.md b/README.md index a1d79fe..ef07d2f 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # Flix -**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch. +**Flix** (*flight + X*) — open source ESP32-based quadcopter made from scratch. @@ -52,25 +52,27 @@ The simulator is implemented using Gazebo and runs the original Arduino code: Flix simulator -## Articles +## Documentation * [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). +* [Simulation](gazebo/README.md). +* [Firmware architectural overview](docs/firmware.md). +* [Python library](tools/pyflix/README.md). * [Log analysis](docs/log.md). * [User builds gallery](docs/user.md). +* [Version 0 (obsolete)](docs/version0.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 +80,17 @@ 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 main part|3D printed²:
[`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| |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 +100,7 @@ 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 +108,7 @@ 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: @@ -135,14 +135,15 @@ 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: @@ -154,28 +155,14 @@ See [assembly guide](docs/assembly.md) for instructions on assembling the drone. *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.* -### 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..d9e04c6 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 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..337ebeb 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: @@ -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`. 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). 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
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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
5V
\ No newline at end of file diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 509fd11..2b2554d 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -32,6 +32,8 @@ Do the following: * `mfl` — should rotate front left motor (clockwise). * `mrl` — should rotate rear left motor (counter-clockwise). * `mrr` — should rotate rear right motor (clockwise). +* **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..437cc37 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -1,130 +1,36 @@ # 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 a **command line**. ### Arduino IDE (Windows, Linux, macOS) 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 +55,84 @@ 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 +``` + +### 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.** + +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. + +### 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` command in the command line). +3. In Arduino IDE, make sure the baudrate is set to 115200. + +To access the console wirelessly using QGroundControl: + +1. Connect to the drone using QGroundControl app. +2. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*. + + +Use `help` command to see the list of available commands. + +### 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 (more convenient) 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. + +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. **Remove the propellers before this!** Use the following commands: + * `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). + +## 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). + +### 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. 2. Power the drone using the battery. @@ -173,7 +144,7 @@ Before flight you need to calibrate the accelerometer: > [!TIP] > Decrease `TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive. -#### Control with remote control +### Control with remote control Before flight using remote control, you need to calibrate it: @@ -181,7 +152,7 @@ Before flight using remote control, you need to calibrate it: 2. Type `cr` command there and follow the instructions. 3. Use the remote control to fly the drone! -#### Control with USB remote control (Wi-Fi) +### Control with 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 +164,6 @@ 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 +182,9 @@ 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. @@ -241,12 +212,6 @@ If the pilot moves the control sticks, the drone will switch back to *STAB* mode ## Adjusting parameters -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*. +You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*. - -## 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*. - - diff --git a/gazebo/README.md b/gazebo/README.md index c7e2608..bce4980 100644 --- a/gazebo/README.md +++ b/gazebo/README.md @@ -1,15 +1,96 @@ -# 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 + +## 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! + +### 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. From 348721acc9eb0baa9aee8824913e2c938a89616d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 10 Nov 2025 20:13:39 +0300 Subject: [PATCH 003/154] Updates in documentation Fixes, updates, new illustrations. --- README.md | 30 ++++---- docs/img/arduino-ide.png | Bin 0 -> 71323 bytes docs/img/drone-axes-rotate.svg | 136 +++++++++++++++++++++++++++++++++ docs/img/drone-axes.svg | 110 ++++++++++++++++++++++++++ docs/img/mosfet-connection.png | Bin 38912 -> 47329 bytes docs/img/motors.svg | 50 ++++++------ docs/usage.md | 33 +++++--- docs/version0.md | 2 +- gazebo/README.md | 2 +- tools/pyflix/README.md | 13 ++-- 10 files changed, 318 insertions(+), 58 deletions(-) create mode 100644 docs/img/arduino-ide.png create mode 100644 docs/img/drone-axes-rotate.svg create mode 100644 docs/img/drone-axes.svg diff --git a/README.md b/README.md index ef07d2f..8933fab 100644 --- a/README.md +++ b/README.md @@ -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||1| |Screws for IMU board mounting|M3x5||2| |Screws for frame assembly|M1.4x5||4| -|Frame main part|3D printed²:
[`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 other³*||1| |Wires|28 AWG recommended||| @@ -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 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zT51bXum$%4&rndV&VwV;DqY0Nxt;k>Nq@R)P$_NIEe1DgSJm+G4EtmiqYM7*G*OlV z;|SgVFDgcq**ha5vzu|as4_nXztRE`P zNqOc;1g%~nOa`)8w7RI#0gAviE<>Ru7_p1@dR~fE?7sU=Bk9ZGbwcm>DAA_zTXAla za?()_zzGTZ%aObAk2e>d>_A>>%x>oUSfRi&G!Ewc(2T5>DyGS_Aejx-R*iSvsia{2^}+8u6CTJZy9;Yx1q$CBe)MmkA>AdOS<2 zft#WS%)!Sq3e5J;GlzOIvQ(1lNv5Xl2_=boy=tx5hB6o!sAO7|sc!^LgHuSk*J3B^ z-Dk&+mx1Hxjo0GgsZh^_9MnN(aUVC<^E=U}nJ`MMgudu2S`({%J@MM&s-nHIzvmTO zJLmqiU`sPVr-;)3E3Ca4y+T5o`nX<-bDqAOq|p+KcxO3*Pg++5qu}dX&B7c&Iu3?y7ITVA1Z*bxy%4{{veEM@9eu diff --git a/docs/img/motors.svg b/docs/img/motors.svg index 949736f..a89f419 100644 --- a/docs/img/motors.svg +++ b/docs/img/motors.svg @@ -1,4 +1,4 @@ - + - - - - - - - + + + + + - + - - + + - - + + + 3 + 2 + prop A + prop B + - - + + + 1 + prop A + - - + + - 3 - 0 - 1 - 2 - prop A - prop A - prop B - prop B + 0 + prop B diff --git a/docs/usage.md b/docs/usage.md index 437cc37..6fee791 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -16,6 +16,8 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b ### 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).* 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. + + +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*. -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: -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 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/gazebo/README.md b/gazebo/README.md index bce4980..eebc27b 100644 --- a/gazebo/README.md +++ b/gazebo/README.md @@ -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. -Flix simulator +Flix simulator running on macOS ## Installation diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index 47d5633..c10c00f 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -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: + + + +All angles are in radians. ### Events @@ -107,7 +110,7 @@ Full list of events: |`value.`|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) From 49039f752dc583c5348bde16b03c584a0c903a39 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Nov 2025 20:21:05 +0300 Subject: [PATCH 004/154] Refactor Wi-Fi log download Use MAVLink LOG_REQUEST_DATA and LOG_DATA for download log instead of console. Make Wi-Fi download default way of downloading the log. Make `log` command only print the header and `log dump` dump the log. --- Makefile | 2 +- docs/log.md | 6 +----- docs/usage.md | 10 ++++++++++ flix/cli.ino | 5 +++-- flix/log.ino | 7 ++++--- flix/mavlink.ino | 14 ++++++++++++++ gazebo/flix.h | 3 ++- tools/log.py | 42 +++++++++++++++++++++++++++++++++++------- 8 files changed, 70 insertions(+), 19 deletions(-) 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/docs/log.md b/docs/log.md index a9744ea..5e17589 100644 --- a/docs/log.md +++ b/docs/log.md @@ -2,11 +2,7 @@ Flix quadcopter uses RAM to store flight log data. 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/usage.md b/docs/usage.md index 6fee791..f313638 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -226,3 +226,13 @@ If the pilot moves the control sticks, the drone will switch back to *STAB* mode You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*. + +## Flight log + +After the flight, you can download the flight log for analysis wirelessly. Use the following for that: + +```bash +make log +``` + +See more details about log analysis in the [log analysis](log.md) article. diff --git a/flix/cli.ino b/flix/cli.ino index 90ccbec..47c0ce8 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -38,7 +38,7 @@ const char* motd = "stab/acro/auto - set mode\n" "rc - show RC data\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" @@ -135,7 +135,8 @@ void doCommand(String str, bool echo = false) { 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") { diff --git a/flix/log.ino b/flix/log.ino index 0309ee4..6ccd6c6 100644 --- a/flix/log.ino +++ b/flix/log.ino @@ -61,12 +61,13 @@ 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.ino b/flix/mavlink.ino index 7d90517..cf69de3 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -210,6 +210,20 @@ void handleMavlink(const void *_msg) { armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0; } + 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/gazebo/flix.h b/gazebo/flix.h index cc0af04..05062d2 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -45,7 +45,8 @@ 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); 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(' Date: Fri, 14 Nov 2025 13:46:02 +0300 Subject: [PATCH 005/154] Remove unneeded SERIAL_BAUDRATE define --- flix/flix.ino | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/flix/flix.ino b/flix/flix.ino index 0062f6d..8c0f260 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -7,7 +7,6 @@ #include "quaternion.h" #include "util.h" -#define SERIAL_BAUDRATE 115200 #define WIFI_ENABLED 1 float t = NAN; // current step time, s @@ -22,7 +21,7 @@ bool landed; // are we landed and stationary float motors[4]; // normalized motors thrust in range [0..1] void setup() { - Serial.begin(SERIAL_BAUDRATE); + Serial.begin(115200); print("Initializing flix\n"); disableBrownOut(); setupParameters(); From 31dbdaf24152ec57726ddd713ed2fe172e90d8a1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 19 Nov 2025 01:30:02 +0300 Subject: [PATCH 006/154] Group control parameters Also add IMU group to accelerometer calibration parameters. --- docs/usage.md | 2 +- flix/parameters.ino | 58 ++++++++++++++++++++++----------------------- 2 files changed, 30 insertions(+), 30 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index f313638..52a3c5f 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -153,7 +153,7 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F 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 `CNT_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive. ### Control with remote control diff --git a/flix/parameters.ino b/flix/parameters.ino index 265f966..db6350f 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -13,42 +13,42 @@ extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChanne 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_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}, // rc {"RC_ZERO_0", &channelZero[0]}, {"RC_ZERO_1", &channelZero[1]}, From 9b5872740f464ae862a0ccc449b5be2086aebcc9 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 22 Nov 2025 04:46:54 +0300 Subject: [PATCH 007/154] Add wifi cli command To show wi-fi info. --- flix/cli.ino | 5 +++++ flix/wifi.ino | 11 +++++++++++ gazebo/flix.h | 1 + 3 files changed, 17 insertions(+) diff --git a/flix/cli.ino b/flix/cli.ino index 47c0ce8..3dc93cc 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -37,6 +37,7 @@ const char* motd = "disarm - disarm the drone\n" "stab/acro/auto - set mode\n" "rc - show RC data\n" +"wifi - show Wi-Fi info\n" "mot - show motor output\n" "log [dump] - print log header [and data]\n" "cr - calibrate RC\n" @@ -131,6 +132,10 @@ void doCommand(String str, bool echo = false) { controlRoll, controlPitch, controlYaw, controlThrottle, controlMode); 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]); diff --git a/flix/wifi.ino b/flix/wifi.ino index e003375..30f6d4a 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -35,4 +35,15 @@ 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/flix.h b/gazebo/flix.h index 05062d2..be6c750 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -73,4 +73,5 @@ void calibrateGyro() { print("Skip gyro calibrating\n"); }; void calibrateAccel() { print("Skip accel calibrating\n"); }; void printIMUCalibration() { print("cal: N/A\n"); }; void printIMUInfo() {}; +void printWiFiInfo() {}; Vector accBias, gyroBias, accScale(1, 1, 1); From 5352386486fd00b9b2cbb991c0d7c984e0be6cb5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 22 Nov 2025 05:07:46 +0300 Subject: [PATCH 008/154] Minor updates to pyflix library, pyflix@0.10 Fixes to documentation. Improve logger format. --- tools/pyflix/README.md | 22 +++++++++++----------- tools/pyflix/flix.py | 2 +- tools/pyproject.toml | 2 +- 3 files changed, 13 insertions(+), 13 deletions(-) diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index c10c00f..96340a7 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -1,8 +1,8 @@ # Flix Python library -The Flix Python library allows you to remotely connect to a Flix quadcopter. It provides access to telemetry data, supports executing CLI commands, and controlling the drone's flight. +The Flix Python library allows you to remotely connect to a Flix quadcopter. It provides access to telemetry data, supports executing console commands, and controlling the drone's flight. -To use the library, connect to the drone's Wi-Fi. To use it with the simulator, ensure the script runs on the same local network as the simulator. +To use the library, connect to the drone's Wi-Fi. To use it with the simulator, ensure the script runs on the same network as the simulator. ## Installation @@ -30,7 +30,7 @@ flix = Flix() # create a Flix object and wait for connection ### Telemetry -Basic telemetry is available through object properties. The properties names generally match the corresponding variables in the firmware itself: +Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware itself: ```python print(flix.connected) # True if connected to the drone @@ -41,7 +41,7 @@ print(flix.attitude) # attitude quaternion [w, x, y, z] print(flix.attitude_euler) # attitude as Euler angles [roll, pitch, yaw] print(flix.rates) # angular rates [roll_rate, pitch_rate, yaw_rate] print(flix.channels) # raw RC channels (list) -print(flix.motors) # motors outputs (list) +print(flix.motors) # motor outputs (list) print(flix.acc) # accelerometer output (list) print(flix.gyro) # gyroscope output (list) ``` @@ -100,17 +100,17 @@ Full list of events: |`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 has changed. +> Update events trigger on every new piece of data from the drone, and do not mean the value has changed. ### Common methods @@ -121,7 +121,7 @@ pitch_p = flix.get_param('PITCH_P') # get parameter value flix.set_param('PITCH_P', 5) # set parameter value ``` -Execute console 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 @@ -169,10 +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: @@ -186,7 +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..f385f5d 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) diff --git a/tools/pyproject.toml b/tools/pyproject.toml index 673fca6..9c779b8 100644 --- a/tools/pyproject.toml +++ b/tools/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyflix" -version = "0.9" +version = "0.10" description = "Python API for Flix drone" authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] license = "MIT" From d757ffa8530b631fa3a625bfe4d61be4e48155e1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 22 Nov 2025 05:11:46 +0300 Subject: [PATCH 009/154] Move yaw dead zone handling from mavlink to control subsystem So yaw dead zone works the same for rc and mavlink. --- flix/control.ino | 2 ++ flix/mavlink.ino | 3 --- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/flix/control.ino b/flix/control.ino index 4de742c..9e047d8 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -75,6 +75,8 @@ 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) { diff --git a/flix/mavlink.ino b/flix/mavlink.ino index cf69de3..4436c92 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -11,7 +11,6 @@ #define SYSTEM_ID 1 #define MAVLINK_RATE_SLOW 1 #define MAVLINK_RATE_FAST 10 -#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f bool mavlinkConnected = false; String mavlinkPrintBuffer; @@ -105,8 +104,6 @@ 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) { From 4d583185a98858df01ca75a11051c776360ed9d7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 25 Nov 2025 04:44:16 +0300 Subject: [PATCH 010/154] Rename manual mode to raw mode Make it callable from the console. Increase the coefficient. Corresponding change in pyflix. pyflix@0.11. --- docs/usage.md | 4 ++-- flix/cli.ino | 6 ++++-- flix/control.ino | 9 ++++----- tools/pyflix/flix.py | 2 +- tools/pyproject.toml | 2 +- 5 files changed, 12 insertions(+), 11 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 52a3c5f..976a93b 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -211,9 +211,9 @@ 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 diff --git a/flix/cli.ino b/flix/cli.ino index 3dc93cc..b92f56d 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -8,7 +8,7 @@ #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 controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; @@ -35,7 +35,7 @@ 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" @@ -117,6 +117,8 @@ void doCommand(String str, bool echo = false) { armed = true; } else if (command == "disarm") { armed = false; + } else if (command == "raw") { + mode = RAW; } else if (command == "stab") { mode = STAB; } else if (command == "acro") { diff --git a/flix/control.ino b/flix/control.ino index 9e047d8..9018630 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -34,7 +34,7 @@ #define TILT_MAX radians(30) #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz -const int MANUAL = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes +const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes int mode = STAB; bool armed = false; @@ -65,7 +65,6 @@ 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; @@ -93,10 +92,10 @@ 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; } } @@ -157,7 +156,7 @@ 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/tools/pyflix/flix.py b/tools/pyflix/flix.py index f385f5d..a12d25f 100644 --- a/tools/pyflix/flix.py +++ b/tools/pyflix/flix.py @@ -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 9c779b8..5ec9593 100644 --- a/tools/pyproject.toml +++ b/tools/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyflix" -version = "0.10" +version = "0.11" description = "Python API for Flix drone" authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] license = "MIT" From 48711b55e1910f3e44fbc6d856684e9ee0f6bb50 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 26 Nov 2025 17:34:08 +0300 Subject: [PATCH 011/154] Add tip about CNT_TILT_MAX parameter to the simulator article --- gazebo/README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gazebo/README.md b/gazebo/README.md index eebc27b..98df6db 100644 --- a/gazebo/README.md +++ b/gazebo/README.md @@ -68,6 +68,9 @@ Just like the real drone, the simulator can be controlled using a USB remote con 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 `CNT_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. From 36ca30c3e432fef17a60637f154b50f64b5a561a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 27 Nov 2025 18:34:32 +0300 Subject: [PATCH 012/154] Minor docs fix --- docs/usage.md | 2 +- gazebo/README.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 976a93b..9bbfa8d 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -153,7 +153,7 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F 6. Use the virtual joystick to fly the drone! > [!TIP] -> Decrease `CNT_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 diff --git a/gazebo/README.md b/gazebo/README.md index 98df6db..226312a 100644 --- a/gazebo/README.md +++ b/gazebo/README.md @@ -69,7 +69,7 @@ Just like the real drone, the simulator can be controlled using a USB remote con 7. Use the virtual joystick to fly the drone! > [!TIP] -> Decrease `CNT_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 USB remote control From 158827ac5551e1f49a09f21a6e445bc61fb0473c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 13 Dec 2025 21:09:33 +0300 Subject: [PATCH 013/154] Add new user builds, add school 548 course overview + minor doc fixes. --- docs/img/user/goldarte/1.jpg | Bin 0 -> 69288 bytes docs/img/user/goldarte/2.jpg | Bin 0 -> 35809 bytes docs/img/user/goldarte/video.jpg | Bin 0 -> 32809 bytes docs/img/user/school548/1.jpg | Bin 0 -> 110217 bytes docs/img/user/school548/2.jpg | Bin 0 -> 95032 bytes docs/img/user/school548/3.jpg | Bin 0 -> 66979 bytes docs/img/user/school548/kiraflux-video.jpg | Bin 0 -> 28325 bytes docs/img/user/school548/kiraflux1.jpg | Bin 0 -> 31755 bytes 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a/docs/usage.md +++ b/docs/usage.md @@ -12,7 +12,7 @@ Beginners can [download the source code as a ZIP archive](https://github.com/oka ## Building the firmware -You can build and upload the firmware using either **Arduino IDE** (easier for beginners) or a **command line**. +You can build and upload the firmware using either **Arduino IDE** (easier for beginners) or **command line**. ### Arduino IDE (Windows, Linux, macOS) diff --git a/docs/user.md b/docs/user.md index 786aced..7eff90b 100644 --- a/docs/user.md +++ b/docs/user.md @@ -4,6 +4,55 @@ 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 quadcopter design and engineering course took place in october-november 2025 in School 548, Moscow. Course included UAV control theory, electronics, and practical drone assembly and setup using the Flix project. + + + +### Selected works + +Author: [KiraFlux](https://t.me/@kiraflux_0XC0000005).
+Description: **custom ESPNOW remote control** is implemented, firmware modified to support ESPNOW protocol.
+Telegram posts: https://t.me/opensourcequadcopter/106, 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.
+ + + +**Flight video**: + + + +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. + + + +**Flight video**: + + + +Author: [Vlad Tolshinov](https://t.me/Vlad_Tolshinov).
+Description: custom frame with enlarged arm length, that provides very high level of stability, 65 mm props. + + + +--- + ## RoboCamp Author: RoboCamp participants.
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zOcB=5!gLhfHo2gZwEzZ!5D>&VcOR0h{FHnz5F|sSR|-u7%5WYL3*i$5wg?MI77nT1 zP07L-GT%%TFr5bq(cm!-gCr7Y3si$iz$;^hLLX16MTW2O^}j-M3l7tmcMA%{ZVPZg zf{qaIj8MJ-950z~rYQvIIFO7CL$Nf^l9{K!40rNM($N}ra!S`U{{X@HMb1C$R*uc~ z^Ux#pT0<65`pb5)KH%$3Y$Uz)%W;h%{ z#1tjCgNb2icjbltT?%Uv`mICo7IGK#sZdlCyKKrRIp9!5`k`-gx)k6IS`Hv|Til8W z;z&&BI2>^Z!yw{zsz7pfdwOl$f(uf#NcZH!^b{|Jhz-IMV +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** is implemented, firmware modified to support ESPNOW protocol.
-Telegram posts: https://t.me/opensourcequadcopter/106, https://t.me/opensourcequadcopter/114.
+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.
-**Flight video**: +**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. +[Telegram post](https://t.me/opensourcequadcopter/117). -**Flight video**: +**Video streaming and flight demonstration**: Author: [Vlad Tolshinov](https://t.me/Vlad_Tolshinov).
-Description: custom frame with enlarged arm length, that provides very high level of stability, 65 mm props. +Description: custom frame with enlarged arm length, which provides very high flight stability, 65 mm props. +**Flight video**: + + + --- ## RoboCamp @@ -58,7 +64,7 @@ Description: custom frame with enlarged arm length, that provides very high leve 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. From c02dba6812ba69c8f3d84a2f5c33a5b4ff14845a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 24 Dec 2025 05:36:43 +0300 Subject: [PATCH 015/154] Rename gyroCalibrationFilter to gyroBiasFilter Which seems a better name --- flix/imu.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flix/imu.ino b/flix/imu.ino index 9fbde5f..67b26eb 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -53,8 +53,8 @@ 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() { From 0547ea548bf16db1708151d740a8a696d8848a3c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 24 Dec 2025 05:43:55 +0300 Subject: [PATCH 016/154] Add parameters for acc weight and rates lpf alpha --- flix/estimate.ino | 7 +++---- flix/parameters.ino | 3 +++ 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/flix/estimate.ino b/flix/estimate.ino index cd8da9f..cd8dcb9 100644 --- a/flix/estimate.ino +++ b/flix/estimate.ino @@ -8,8 +8,8 @@ #include "lpf.h" #include "util.h" -#define WEIGHT_ACC 0.003 -#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz +float accWeight = 0.003; +LowPassFilter ratesFilter(0.2); // cutoff frequency ~ 40 Hz void estimate() { applyGyro(); @@ -18,7 +18,6 @@ void estimate() { void applyGyro() { // filter gyro to get angular rates - static LowPassFilter ratesFilter(RATES_LFP_ALPHA); rates = ratesFilter.update(gyro); // apply rates to attitude @@ -34,7 +33,7 @@ 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/parameters.ino b/flix/parameters.ino index db6350f..0738f12 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -49,6 +49,9 @@ Parameter parameters[] = { {"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]}, From 68d16855df79a4549ec8e93c341b6c223349627c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 25 Dec 2025 07:22:09 +0300 Subject: [PATCH 017/154] Add motors rotation diagram to usage article --- docs/usage.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docs/usage.md b/docs/usage.md index cef2836..327bbbe 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -136,6 +136,10 @@ Before flight you need to calibrate the accelerometer: * `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. From d6e8be0c053a76630c875414a9dcd000f0891894 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 26 Dec 2025 21:14:15 +0300 Subject: [PATCH 018/154] Add parameters for easier IMU orientation definition --- .markdownlint.json | 3 ++- docs/img/imu-axes.png | Bin 0 -> 23381 bytes docs/img/imu-rot-1.png | Bin 0 -> 18429 bytes docs/img/imu-rot-2.png | Bin 0 -> 17965 bytes docs/img/imu-rot-3.png | Bin 0 -> 17622 bytes docs/img/imu-rot-4.png | Bin 0 -> 17623 bytes docs/img/imu-rot-5.png | Bin 0 -> 10354 bytes docs/img/imu-rot-6.png | Bin 0 -> 9860 bytes docs/img/imu-rot-7.png | Bin 0 -> 10720 bytes docs/img/imu-rot-8.png | Bin 0 -> 10515 bytes docs/usage.md | 42 +++++++++++++++++++++++++---------------- flix/imu.ino | 15 +++++---------- flix/parameters.ino | 3 +++ gazebo/flix.h | 1 + 14 files changed, 37 insertions(+), 27 deletions(-) create mode 100644 docs/img/imu-axes.png create mode 100644 docs/img/imu-rot-1.png create mode 100644 docs/img/imu-rot-2.png create mode 100644 docs/img/imu-rot-3.png create mode 100644 docs/img/imu-rot-4.png create mode 100644 docs/img/imu-rot-5.png create mode 100644 docs/img/imu-rot-6.png create mode 100644 docs/img/imu-rot-7.png create mode 100644 docs/img/imu-rot-8.png diff --git a/.markdownlint.json b/.markdownlint.json index 753942e..f98602c 100644 --- a/.markdownlint.json +++ b/.markdownlint.json @@ -65,5 +65,6 @@ "PX4" ] }, - "MD045": false + "MD045": false, + "MD060": false } diff --git a/docs/img/imu-axes.png b/docs/img/imu-axes.png new file mode 100644 index 0000000000000000000000000000000000000000..003f03a62a1d8e906e8fd5f00e0dcec509356413 GIT binary patch literal 23381 zcmV)qK$^daP)00D^z0{{R3OSCbk00004XF*Lt006O% z3;baP00001b5ch_0Itp)=>Px$fKW_SMgRZ*7#9|lD3Bo_9+fJQjwg@Dlu(u}lE9El zktdIaD2IwDjO@yJHIm2X#dQu24&O{tf+&M|@iW7aPJAeSzl}}z!xV#ZMv^)odTT*- zD0bk#a>*h*abi1-drD%(9jKy~mxNHBHjr7-5~-`MZ*OmFCTxa+dj$mrp^a5(XJbnt z6MJ}bDkmnai!Z&HE~1-~*|~2YX|axshg@1%R8mfAD;8v6TB}QmnU;(D`1h`uTy|e3 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diff --git a/docs/img/flix.svg b/docs/img/flix.svg new file mode 100644 index 0000000..89e7935 --- /dev/null +++ b/docs/img/flix.svg @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + From 2a8faf57590d279c7544e85c3e6f351b60a79410 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 8 Jan 2026 19:45:08 +0300 Subject: [PATCH 023/154] Fix logo svg slightly --- docs/img/flix.svg | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/docs/img/flix.svg b/docs/img/flix.svg index 89e7935..07c890c 100644 --- a/docs/img/flix.svg +++ b/docs/img/flix.svg @@ -1,4 +1,4 @@ - + - - - - - - - + + + + + + + - - - + + + From 7e24ee30f734ad79264638c3c193b9b9be07d2d9 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 13 Jan 2026 17:26:40 +0300 Subject: [PATCH 024/154] Documentation and book updates Improve the main list of features. Use lowercase imu variable for consistency with the firmware code. Minor fixes. --- README.md | 8 +++----- docs/book/gyro.md | 52 +++++++++++++++++++++++------------------------ docs/firmware.md | 2 +- docs/usage.md | 2 +- 4 files changed, 31 insertions(+), 33 deletions(-) diff --git a/README.md b/README.md index 4ddc0a5..58e490a 100644 --- a/README.md +++ b/README.md @@ -21,15 +21,13 @@ * Dedicated for education and research. * Made from general-purpose components. * Simple and clean source code in Arduino (<2k lines firmware). +* Connectivity using Wi-Fi and MAVLink protocol. * Control using USB gamepad, remote control or smartphone. -* Wi-Fi and MAVLink support. * Wireless command line interface and analyzing. * Precise simulation with Gazebo. -* Python library. +* Python library for scripting and automatic flights. * Textbook on flight control theory and practice ([in development](https://quadcopter.dev)). -* *Position control (using external camera) and autonomous flights¹*. - -*¹ — planned.* +* *Position control (planned)*. ## It actually flies diff --git a/docs/book/gyro.md b/docs/book/gyro.md index 2127891..5034343 100644 --- a/docs/book/gyro.md +++ b/docs/book/gyro.md @@ -87,13 +87,13 @@ Flix поддерживает следующие модели IMU: #include #include -MPU9250 IMU(SPI); +MPU9250 imu(SPI); void setup() { Serial.begin(115200); - bool success = IMU.begin(); + bool success = imu.begin(); if (!success) { - Serial.println("Failed to initialize IMU"); + Serial.println("Failed to initialize the IMU"); } } ``` @@ -108,21 +108,21 @@ void setup() { #include #include -MPU9250 IMU(SPI); +MPU9250 imu(SPI); void setup() { Serial.begin(115200); - bool success = IMU.begin(); + bool success = imu.begin(); if (!success) { - Serial.println("Failed to initialize IMU"); + Serial.println("Failed to initialize the IMU"); } } void loop() { - IMU.waitForData(); + imu.waitForData(); float gx, gy, gz; - IMU.getGyro(gx, gy, gz); + imu.getGyro(gx, gy, gz); Serial.printf("gx:%f gy:%f gz:%f\n", gx, gy, gz); delay(50); // замедление вывода @@ -135,36 +135,36 @@ void loop() { ## Конфигурация гироскопа -В коде Flix настройка IMU происходит в функции `configureIMU`. В этой функции настраиваются три основных параметра гироскопа: диапазон измерений, частота сэмплов и частота LPF-фильтра. +В коде Flix настройка IMU происходит в функции `configureIMU`. В этой функции настраиваются три основных параметра гироскопа: диапазон измерений, частота сэмплирования и частота LPF-фильтра. -### Частота сэмплов +### Частота сэмплирования -Большинство IMU могут обновлять данные с разной частотой. В полетных контроллерах обычно используется частота обновления от 500 Гц до 8 кГц. Чем выше частота сэмплов, тем выше точность управления полетом, но и больше нагрузка на микроконтроллер. +Большинство IMU могут обновлять данные с разной частотой. В полетных контроллерах обычно используется частота обновления от 500 Гц до 8 кГц. Чем выше частота, тем выше точность управления полетом, но и тем больше нагрузка на микроконтроллер. -Частота сэмплов устанавливается методом `setSampleRate()`. В Flix используется частота 1 кГц: +Частота сэмплирования устанавливается методом `setSampleRate()`. В Flix используется частота 1 кГц: ```cpp IMU.setRate(IMU.RATE_1KHZ_APPROX); ``` -Поскольку не все поддерживаемые IMU могут работать строго на частоте 1 кГц, в библиотеке FlixPeriph существует возможность приближенной настройки частоты сэмплов. Например, у IMU ICM-20948 при такой настройке реальная частота сэмплирования будет равна 1125 Гц. +Поскольку не все поддерживаемые IMU могут работать строго на частоте 1 кГц, в библиотеке FlixPeriph существует возможность приближенной настройки частоты сэмплирования. Например, у IMU ICM-20948 при такой настройке реальная частота сэмплирования будет равна 1125 Гц. Другие доступные для установки в библиотеке FlixPeriph частоты сэмплирования: -* `RATE_MIN` — минимальная частота сэмплов для конкретного IMU. +* `RATE_MIN` — минимальная частота для конкретного IMU. * `RATE_50HZ_APPROX` — значение, близкое к 50 Гц. * `RATE_1KHZ_APPROX` — значение, близкое к 1 кГц. * `RATE_8KHZ_APPROX` — значение, близкое к 8 кГц. -* `RATE_MAX` — максимальная частота сэмплов для конкретного IMU. +* `RATE_MAX` — максимальная частота для конкретного IMU. #### Диапазон измерений -Большинство MEMS-гироскопов поддерживают несколько диапазонов измерений угловой скорости. Главное преимущество выбора меньшего диапазона — бо́льшая чувствительность. В полетных контроллерах обычно выбирается максимальный диапазон измерений от –2000 до 2000 градусов в секунду, чтобы обеспечить возможность динамичных маневров. +Большинство MEMS-гироскопов поддерживают несколько диапазонов измерений угловой скорости. Главное преимущество выбора меньшего диапазона — бо́льшая чувствительность. В полетных контроллерах обычно выбирается максимальный диапазон измерений от –2000 до 2000 градусов в секунду, чтобы обеспечить возможность быстрых маневров. В библиотеке FlixPeriph диапазон измерений гироскопа устанавливается методом `setGyroRange()`: ```cpp -IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS); +imu.setGyroRange(imu.GYRO_RANGE_2000DPS); ``` ### LPF-фильтр @@ -172,7 +172,7 @@ IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS); IMU InvenSense могут фильтровать измерения на аппаратном уровне при помощи фильтра нижних частот (LPF). Flix реализует собственный фильтр для гироскопа, чтобы иметь больше гибкости при поддержке разных IMU. Поэтому для встроенного LPF устанавливается максимальная частота среза: ```cpp -IMU.setDLPF(IMU.DLPF_MAX); +imu.setDLPF(imu.DLPF_MAX); ``` ## Калибровка гироскопа @@ -181,7 +181,7 @@ IMU.setDLPF(IMU.DLPF_MAX); \\[ gyro_{xyz}=rates_{xyz}+bias_{xyz}+noise \\] -Для качественной работы подсистемы оценки ориентации и управления дроном необходимо оценить *bias* гироскопа и учесть его в вычислениях. Для этого при запуске программы производится калибровка гироскопа, которая реализована в функции `calibrateGyro()`. Эта функция считывает данные с гироскопа в состоянии покоя 1000 раз и усредняет их. Полученные значения считаются *bias* гироскопа и в дальнейшем вычитаются из измерений. +Для точной работы подсистемы оценки ориентации и управления дроном необходимо оценить *bias* гироскопа и учесть его в вычислениях. Для этого при запуске программы производится калибровка гироскопа, которая реализована в функции `calibrateGyro()`. Эта функция считывает данные с гироскопа в состоянии покоя 1000 раз и усредняет их. Полученные значения считаются *bias* гироскопа и в дальнейшем вычитаются из измерений. Программа для вывода данных с гироскопа с калибровкой: @@ -189,23 +189,23 @@ IMU.setDLPF(IMU.DLPF_MAX); #include #include -MPU9250 IMU(SPI); +MPU9250 imu(SPI); float gyroBiasX, gyroBiasY, gyroBiasZ; // bias гироскопа void setup() { Serial.begin(115200); - bool success = IMU.begin(); + bool success = imu.begin(); if (!success) { - Serial.println("Failed to initialize IMU"); + Serial.println("Failed to initialize the IMU"); } calibrateGyro(); } void loop() { float gx, gy, gz; - IMU.waitForData(); - IMU.getGyro(gx, gy, gz); + imu.waitForData(); + imu.getGyro(gx, gy, gz); // Устранение bias гироскопа gx -= gyroBiasX; @@ -226,9 +226,9 @@ void calibrateGyro() { // Получение 1000 измерений гироскопа for (int i = 0; i < samples; i++) { - IMU.waitForData(); + imu.waitForData(); float gx, gy, gz; - IMU.getGyro(gx, gy, gz); + imu.getGyro(gx, gy, gz); gyroBiasX += gx; gyroBiasY += gy; gyroBiasZ += gz; diff --git a/docs/firmware.md b/docs/firmware.md index c0b817c..016f464 100644 --- a/docs/firmware.md +++ b/docs/firmware.md @@ -42,7 +42,7 @@ Pilot inputs are interpreted in `interpretControls()`, and then converted to the * `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*. +* `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 motor thrust target, range [0, 1]. diff --git a/docs/usage.md b/docs/usage.md index bfadfbf..cb9f5fe 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -143,7 +143,7 @@ Before flight you need to calibrate the accelerometer: * 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: +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 *large vertical* mode) in QGroundControl is shown below: From 28f5855a57ef9f4993f936364d976964f6670621 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 13 Jan 2026 17:43:53 +0300 Subject: [PATCH 025/154] Re-arrange control.ino declarations to make a bit more sensible So the control command is above the PID controllers. --- flix/control.ino | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/flix/control.ino b/flix/control.ino index 9018630..8f6d8e6 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -38,6 +38,12 @@ const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes int mode = STAB; bool armed = false; +Quaternion attitudeTarget; +Vector ratesTarget; +Vector ratesExtra; // feedforward rates +Vector torqueTarget; +float thrustTarget; + PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA); PID pitchRatePID(PITCHRATE_P, PITCHRATE_I, PITCHRATE_D, PITCHRATE_I_LIM, RATES_D_LPF_ALPHA); PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D); @@ -47,12 +53,6 @@ PID yawPID(YAW_P, 0, 0); Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX); float tiltMax = TILT_MAX; -Quaternion attitudeTarget; -Vector ratesTarget; -Vector ratesExtra; // feedforward rates -Vector torqueTarget; -float thrustTarget; - extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; From 9a9bd07251dbd5d315bdb91b54a0267665b16f5d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 15 Jan 2026 23:46:23 +0300 Subject: [PATCH 026/154] Add correct attitude estimation video to the usage article --- docs/usage.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index cb9f5fe..db3c8fa 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -143,9 +143,9 @@ Before flight you need to calibrate the accelerometer: * 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 *large vertical* mode) in QGroundControl is shown below: +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. Compare your attitude indicator (in the *large vertical* mode) to the video: - + 3. Perform motor tests in the console. Use the following commands **— remove the propellers before running the tests!** From a6bad3a69b140bf1d503147c2fd4f57c416ea689 Mon Sep 17 00:00:00 2001 From: "a.golubtsov" Date: Thu, 22 Jan 2026 10:49:28 +0300 Subject: [PATCH 027/154] Add log dir creation before log writing --- tools/log.py | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/log.py b/tools/log.py index a1e3f1a..d638d9c 100755 --- a/tools/log.py +++ b/tools/log.py @@ -43,6 +43,7 @@ records = [record for record in records if record[0] != 0] print(f'Received records: {len(records)}') +os.makedirs(f'{DIR}/log', exist_ok=True) log = open(f'{DIR}/log/{datetime.datetime.now().isoformat()}.csv', 'wb') log.write(header.encode() + b'\n') for record in records: From c0f3301da42f98088cead001ab2e80b44b32aec7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 22 Jan 2026 22:54:05 +0300 Subject: [PATCH 028/154] Support integer parameters in addition to floats The variable pointer is stored as a union field. If `.integer` field is true, then integer pointer should be used. Interfaces to parameters (cli and mavlink) keep working using floats. Setting a non-finite value to int parameter will cause an error. `.value` field is renamed to `.cache`. --- flix/mavlink.ino | 3 ++- flix/parameters.ino | 34 +++++++++++++++++++++------------- 2 files changed, 23 insertions(+), 14 deletions(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index cb122fc..0366ca4 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -142,7 +142,8 @@ void handleMavlink(const void *_msg) { char name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1]; strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated - setParameter(name, m.param_value); + bool success = setParameter(name, m.param_value); + if (!success) return; // send ack mavlink_message_t msg; mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, diff --git a/flix/parameters.ino b/flix/parameters.ino index 3d7bfdd..a6e7115 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -14,8 +14,13 @@ Preferences storage; struct Parameter { const char *name; // max length is 15 (Preferences key limit) - float *variable; - float value; // cache + bool integer; + union { float *f; int *i; }; // pointer to variable + float cache; // what's stored in flash + Parameter(const char *name, float *variable) : name(name), integer(false), f(variable) {}; + Parameter(const char *name, int *variable) : name(name), integer(true), i(variable) {}; + float getValue() const { return integer ? *i : *f; }; + void setValue(const float value) { if (integer) *i = value; else *f = value; }; }; Parameter parameters[] = { @@ -84,10 +89,10 @@ void setupParameters() { // Read parameters from storage for (auto ¶meter : parameters) { if (!storage.isKey(parameter.name)) { - storage.putFloat(parameter.name, *parameter.variable); + storage.putFloat(parameter.name, parameter.getValue()); // store default value } - *parameter.variable = storage.getFloat(parameter.name, *parameter.variable); - parameter.value = *parameter.variable; + parameter.setValue(storage.getFloat(parameter.name, 0)); + parameter.cache = parameter.getValue(); } } @@ -102,13 +107,13 @@ const char *getParameterName(int index) { float getParameter(int index) { if (index < 0 || index >= parametersCount()) return NAN; - return *parameters[index].variable; + return parameters[index].getValue(); } float getParameter(const char *name) { for (auto ¶meter : parameters) { if (strcmp(parameter.name, name) == 0) { - return *parameter.variable; + return parameter.getValue(); } } return NAN; @@ -117,7 +122,8 @@ float getParameter(const char *name) { bool setParameter(const char *name, const float value) { for (auto ¶meter : parameters) { if (strcmp(parameter.name, name) == 0) { - *parameter.variable = value; + if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf + parameter.setValue(value); return true; } } @@ -130,16 +136,18 @@ void syncParameters() { if (motorsActive()) return; // don't use flash while flying, it may cause a delay for (auto ¶meter : parameters) { - if (parameter.value == *parameter.variable) continue; - if (isnan(parameter.value) && isnan(*parameter.variable)) continue; // handle NAN != NAN - storage.putFloat(parameter.name, *parameter.variable); - parameter.value = *parameter.variable; + if (parameter.getValue() == parameter.cache) continue; // no change + if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NaN + if (isinf(parameter.getValue()) && isinf(parameter.cache)) continue; // both are Inf + + storage.putFloat(parameter.name, parameter.getValue()); + parameter.cache = parameter.getValue(); // update cache } } void printParameters() { for (auto ¶meter : parameters) { - print("%s = %g\n", parameter.name, *parameter.variable); + print("%s = %g\n", parameter.name, parameter.getValue()); } } From dd3575174b51bf7920bb9af4791ca8f0b294c2e0 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 22 Jan 2026 22:58:43 +0300 Subject: [PATCH 029/154] Add wifi configuration using parameters and cli Add console commands to setup wifi. Add a parameter for choosing between STA and AP mode. Add parameters for udp ports. Remove WIFI_ENABLED macro. --- .github/workflows/build.yml | 2 -- .markdownlint.json | 1 + docs/usage.md | 36 +++++++++++++++++++- flix/cli.ino | 12 +++---- flix/flix.ino | 5 --- flix/mavlink.ino | 4 --- flix/parameters.ino | 5 +++ flix/wifi.ino | 67 ++++++++++++++++++++++++++----------- gazebo/flix.h | 3 +- 9 files changed, 95 insertions(+), 40 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index f4ef650..3bb9234 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -25,8 +25,6 @@ jobs: path: flix/build - name: Build firmware for ESP32-S3 run: make BOARD=esp32:esp32:esp32s3 - - name: Build firmware with WiFi disabled - run: sed -i 's/^#define WIFI_ENABLED 1$/#define WIFI_ENABLED 0/' flix/flix.ino && make - name: Check c_cpp_properties.json run: tools/check_c_cpp_properties.py diff --git a/.markdownlint.json b/.markdownlint.json index f98602c..ae571f8 100644 --- a/.markdownlint.json +++ b/.markdownlint.json @@ -7,6 +7,7 @@ "MD024": false, "MD033": false, "MD034": false, + "MD040": false, "MD059": false, "MD044": { "html_elements": false, diff --git a/docs/usage.md b/docs/usage.md index db3c8fa..8011866 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -243,9 +243,43 @@ 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. +## Wi-Fi configuration + +You can configure the Wi-Fi using parameters and console commands. + +The Wi-Fi mode is chosen using `WIFI_MODE` parameter in QGroundControl or in the console: + +* `0` — Wi-Fi is disabled. +* `1` — Access Point mode (*AP*) — the drone creates a Wi-Fi network. +* `2` — Client mode (*STA*) — the drone connects to an existing Wi-Fi network. +* `3` — *ESP-NOW (not implemented yet)*. + +> [!WARNING] +> Tests showed that Client mode may cause **additional delays** in remote control (due to retranslations), so it's generally not recommended. + +The SSID and password are configured using the `ap` and `sta` console commands: + +``` +ap +sta +``` + +Example of configuring the Access Point mode: + +``` +ap my-flix-ssid mypassword123 +p WIFI_MODE 1 +``` + +Disabling Wi-Fi: + +``` +p WIFI_MODE 0 +``` + ## Flight log -After the flight, you can download the flight log for analysis wirelessly. Use the following for that: +After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that: ```bash make log diff --git a/flix/cli.ino b/flix/cli.ino index 145b80e..2e4f9f8 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -38,6 +38,8 @@ const char* motd = "raw/stab/acro/auto - set mode\n" "rc - show RC data\n" "wifi - show Wi-Fi info\n" +"ap - setup Wi-Fi access point\n" +"sta - setup Wi-Fi client mode\n" "mot - show motor output\n" "log [dump] - print log header [and data]\n" "cr - calibrate RC\n" @@ -54,9 +56,7 @@ void print(const char* format, ...) { vsnprintf(buf, sizeof(buf), format, args); va_end(args); Serial.print(buf); -#if WIFI_ENABLED mavlinkPrint(buf); -#endif } void pause(float duration) { @@ -64,9 +64,7 @@ void pause(float duration) { while (t - start < duration) { step(); handleInput(); -#if WIFI_ENABLED processMavlink(); -#endif delay(50); } } @@ -136,9 +134,11 @@ void doCommand(String str, bool echo = false) { print("mode: %s\n", getModeName()); print("armed: %d\n", armed); } else if (command == "wifi") { -#if WIFI_ENABLED printWiFiInfo(); -#endif + } else if (command == "ap") { + configWiFi(true, arg0.c_str(), arg1.c_str()); + } else if (command == "sta") { + configWiFi(false, arg0.c_str(), arg1.c_str()); } 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]); diff --git a/flix/flix.ino b/flix/flix.ino index 8036b60..370d66a 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -7,7 +7,6 @@ #include "quaternion.h" #include "util.h" -#define WIFI_ENABLED 1 extern float t, dt; extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; @@ -25,9 +24,7 @@ void setup() { setupLED(); setupMotors(); setLED(true); -#if WIFI_ENABLED setupWiFi(); -#endif setupIMU(); setupRC(); setLED(false); @@ -42,9 +39,7 @@ void loop() { control(); sendMotors(); handleInput(); -#if WIFI_ENABLED processMavlink(); -#endif logData(); syncParameters(); } diff --git a/flix/mavlink.ino b/flix/mavlink.ino index 0366ca4..f894497 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -3,8 +3,6 @@ // MAVLink communication -#if WIFI_ENABLED - #include #include "util.h" @@ -275,5 +273,3 @@ void sendMavlinkPrint() { } mavlinkPrintBuffer.clear(); } - -#endif diff --git a/flix/parameters.ino b/flix/parameters.ino index a6e7115..ae5e868 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -9,6 +9,7 @@ extern float channelZero[16]; extern float channelMax[16]; extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; +extern int wifiMode, udpLocalPort, udpRemotePort; Preferences storage; @@ -82,6 +83,10 @@ Parameter parameters[] = { {"RC_THROTTLE", &throttleChannel}, {"RC_YAW", &yawChannel}, {"RC_MODE", &modeChannel}, + // wifi + {"WIFI_MODE", &wifiMode}, + {"WIFI_LOC_PORT", &udpLocalPort}, + {"WIFI_REM_PORT", &udpRemotePort}, }; void setupParameters() { diff --git a/flix/wifi.ino b/flix/wifi.ino index 30f6d4a..6814dbe 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -1,49 +1,76 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// Wi-Fi support - -#if WIFI_ENABLED +// Wi-Fi communication #include #include #include +#include "Preferences.h" -#define WIFI_SSID "flix" -#define WIFI_PASSWORD "flixwifi" -#define WIFI_UDP_PORT 14550 -#define WIFI_UDP_REMOTE_PORT 14550 -#define WIFI_UDP_REMOTE_ADDR "255.255.255.255" +extern Preferences storage; // use the main preferences storage + +const int W_DISABLED = 0, W_AP = 1, W_STA = 2; +int wifiMode = W_AP; +int udpLocalPort = 14550; +int udpRemotePort = 14550; +IPAddress udpRemoteIP = "255.255.255.255"; WiFiUDP udp; void setupWiFi() { print("Setup Wi-Fi\n"); - WiFi.softAP(WIFI_SSID, WIFI_PASSWORD); - udp.begin(WIFI_UDP_PORT); + if (wifiMode == W_AP) { + WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str()); + } else if (wifiMode == W_STA) { + WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str()); + } + udp.begin(udpLocalPort); } void sendWiFi(const uint8_t *buf, int len) { - if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return; - udp.beginPacket(udp.remoteIP() ? udp.remoteIP() : WIFI_UDP_REMOTE_ADDR, WIFI_UDP_REMOTE_PORT); + if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return; + udp.beginPacket(udpRemoteIP, udpRemotePort); udp.write(buf, len); udp.endPacket(); } int receiveWiFi(uint8_t *buf, int len) { udp.parsePacket(); + if (udp.remoteIP()) udpRemoteIP = udp.remoteIP(); 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()); + if (WiFi.getMode() == WIFI_MODE_AP) { + print("Mode: Access Point (AP)\n"); + print("MAC: %s\n", WiFi.softAPmacAddress().c_str()); + print("SSID: %s\n", WiFi.softAPSSID().c_str()); + print("Password: ***\n"); + print("Clients: %d\n", WiFi.softAPgetStationNum()); + print("IP: %s\n", WiFi.softAPIP().toString().c_str()); + } else if (WiFi.getMode() == WIFI_MODE_STA) { + print("Mode: Client (STA)\n"); + print("Connected: %d\n", WiFi.isConnected()); + print("MAC: %s\n", WiFi.macAddress().c_str()); + print("SSID: %s\n", WiFi.SSID().c_str()); + print("Password: ***\n"); + print("IP: %s\n", WiFi.localIP().toString().c_str()); + } else { + print("Mode: Disabled\n"); + return; + } + print("Remote IP: %s\n", udpRemoteIP.toString().c_str()); print("MAVLink connected: %d\n", mavlinkConnected); } -#endif +void configWiFi(bool ap, const char *ssid, const char *password) { + if (ap) { + storage.putString("WIFI_AP_SSID", ssid); + storage.putString("WIFI_AP_PASS", password); + } else { + storage.putString("WIFI_STA_SSID", ssid); + storage.putString("WIFI_STA_PASS", password); + } + print("✓ Reboot to apply new settings\n"); +} diff --git a/gazebo/flix.h b/gazebo/flix.h index 91d72c4..8d13f5e 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -10,8 +10,6 @@ #include "Arduino.h" #include "wifi.h" -#define WIFI_ENABLED 1 - extern float t, dt; extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; extern Vector rates; @@ -73,3 +71,4 @@ void calibrateAccel() { print("Skip accel calibrating\n"); }; void printIMUCalibration() { print("cal: N/A\n"); }; void printIMUInfo() {}; void printWiFiInfo() {}; +void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); }; From 30326a56628b59e36001b9f8c9f40345757bb772 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 22 Jan 2026 23:04:45 +0300 Subject: [PATCH 030/154] Add parameters for configuring the mavlink subsystem MAV_SYS_ID - mavlink system id. MAV_RATE_SLOW - rate of slow telemetry (e. g. heartbeats). MAV_RATE_FAST - rate of fast telemetry (e. g. attitude, imu data). --- flix/mavlink.ino | 61 +++++++++++++++++++++------------------------ flix/parameters.ino | 4 +++ 2 files changed, 33 insertions(+), 32 deletions(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index f894497..15bbba5 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -6,14 +6,13 @@ #include #include "util.h" -#define SYSTEM_ID 1 -#define MAVLINK_RATE_SLOW 1 -#define MAVLINK_RATE_FAST 10 - extern float controlTime; bool mavlinkConnected = false; String mavlinkPrintBuffer; +int mavlinkSysId = 1; +Rate telemetryFast(10); +Rate telemetrySlow(2); void processMavlink() { sendMavlink(); @@ -26,10 +25,8 @@ void sendMavlink() { mavlink_message_t msg; uint32_t time = t * 1000; - 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, + if (telemetrySlow) { + mavlink_msg_heartbeat_pack(mavlinkSysId, 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) | ((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED), @@ -38,27 +35,27 @@ void sendMavlink() { if (!mavlinkConnected) return; // send only heartbeat until connected - mavlink_msg_extended_sys_state_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_extended_sys_state_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR); sendMessage(&msg); } - if (fast && mavlinkConnected) { + if (telemetryFast && mavlinkConnected) { const float zeroQuat[] = {0, 0, 0, 0}; - mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_attitude_quaternion_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, zeroQuat); // convert to frd sendMessage(&msg); - mavlink_msg_rc_channels_raw_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0, + mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0, channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX); if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input float controls[8]; memcpy(controls, motors, sizeof(motors)); - mavlink_msg_actuator_control_target_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls); + mavlink_msg_actuator_control_target_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls); sendMessage(&msg); - mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, + mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000, 0, 0, 0, 0); @@ -93,7 +90,7 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) { mavlink_manual_control_t m; mavlink_msg_manual_control_decode(&msg, &m); - if (m.target && m.target != SYSTEM_ID) return; // 0 is broadcast + if (m.target && m.target != mavlinkSysId) return; // 0 is broadcast controlThrottle = m.z / 1000.0f; controlPitch = m.x / 1000.0f; @@ -106,11 +103,11 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_LIST) { mavlink_param_request_list_t m; mavlink_msg_param_request_list_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; mavlink_message_t msg; for (int i = 0; i < parametersCount(); i++) { - mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, getParameterName(i), getParameter(i), MAV_PARAM_TYPE_REAL32, parametersCount(), i); sendMessage(&msg); } @@ -119,7 +116,7 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_PARAM_REQUEST_READ) { mavlink_param_request_read_t m; mavlink_msg_param_request_read_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; char name[MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN + 1]; strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated @@ -128,7 +125,7 @@ void handleMavlink(const void *_msg) { memcpy(name, getParameterName(m.param_index), 16); } mavlink_message_t msg; - mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, name, value, MAV_PARAM_TYPE_REAL32, parametersCount(), m.param_index); sendMessage(&msg); } @@ -136,7 +133,7 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_PARAM_SET) { mavlink_param_set_t m; mavlink_msg_param_set_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; char name[MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN + 1]; strlcpy(name, m.param_id, sizeof(name)); // param_id might be not null-terminated @@ -144,7 +141,7 @@ void handleMavlink(const void *_msg) { if (!success) return; // send ack mavlink_message_t msg; - mavlink_msg_param_value_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, m.param_id, m.param_value, MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown sendMessage(&msg); } @@ -152,17 +149,17 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_MISSION_REQUEST_LIST) { // handle to make qgc happy mavlink_mission_request_list_t m; mavlink_msg_mission_request_list_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; mavlink_message_t msg; - mavlink_msg_mission_count_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0); + mavlink_msg_mission_count_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, 0, 0, MAV_MISSION_TYPE_MISSION, 0); sendMessage(&msg); } if (msg.msgid == MAVLINK_MSG_ID_SERIAL_CONTROL) { mavlink_serial_control_t m; mavlink_msg_serial_control_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1]; strlcpy(data, (const char *)m.data, m.count); // data might be not null-terminated @@ -174,7 +171,7 @@ void handleMavlink(const void *_msg) { mavlink_set_attitude_target_t m; mavlink_msg_set_attitude_target_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; // copy attitude, rates and thrust targets ratesTarget.x = m.body_roll_rate; @@ -196,7 +193,7 @@ void handleMavlink(const void *_msg) { mavlink_set_actuator_control_target_t m; mavlink_msg_set_actuator_control_target_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; attitudeTarget.invalidate(); ratesTarget.invalidate(); @@ -208,12 +205,12 @@ void handleMavlink(const void *_msg) { 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; + if (m.target_system && m.target_system != mavlinkSysId) 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, + mavlink_msg_log_data_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, i, sizeof(logBuffer[0]), (uint8_t *)logBuffer[i]); sendMessage(&msg); } @@ -223,13 +220,13 @@ void handleMavlink(const void *_msg) { if (msg.msgid == MAVLINK_MSG_ID_COMMAND_LONG) { mavlink_command_long_t m; mavlink_msg_command_long_decode(&msg, &m); - if (m.target_system && m.target_system != SYSTEM_ID) return; + if (m.target_system && m.target_system != mavlinkSysId) return; mavlink_message_t response; bool accepted = false; if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) { accepted = true; - mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response, + mavlink_msg_autopilot_version_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &response, MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0); sendMessage(&response); } @@ -248,7 +245,7 @@ void handleMavlink(const void *_msg) { // send command ack mavlink_message_t ack; - mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid); + mavlink_msg_command_ack_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid); sendMessage(&ack); } } @@ -265,7 +262,7 @@ void sendMavlinkPrint() { char data[MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN + 1]; strlcpy(data, str + i, sizeof(data)); mavlink_message_t msg; - mavlink_msg_serial_control_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, + mavlink_msg_serial_control_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, SERIAL_CONTROL_DEV_SHELL, i + MAVLINK_MSG_SERIAL_CONTROL_FIELD_DATA_LEN < strlen(str) ? SERIAL_CONTROL_FLAG_MULTI : 0, // more chunks to go 0, 0, strlen(data), (uint8_t *)data, 0, 0); diff --git a/flix/parameters.ino b/flix/parameters.ino index ae5e868..b251fb4 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -87,6 +87,10 @@ Parameter parameters[] = { {"WIFI_MODE", &wifiMode}, {"WIFI_LOC_PORT", &udpLocalPort}, {"WIFI_REM_PORT", &udpRemotePort}, + // mavlink + {"MAV_SYS_ID", &mavlinkSysId}, + {"MAV_RATE_SLOW", &telemetrySlow.rate}, + {"MAV_RATE_FAST", &telemetryFast.rate}, }; void setupParameters() { From 0abb18c6169f8b8853782a13fbf13c1c1bec5cfa Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 22 Jan 2026 23:11:47 +0300 Subject: [PATCH 031/154] Make parameter names case-insensitive + minor fix --- docs/usage.md | 2 +- flix/parameters.ino | 4 ++-- flix/rc.ino | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 8011866..ae9894e 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -108,7 +108,7 @@ The drone is configured using parameters. To access and modify them, go to the Q -You can also work with parameters using `p` command in the console. +You can also work with parameters using `p` command in the console. Parameter names are case-insensitive. ### Define IMU orientation diff --git a/flix/parameters.ino b/flix/parameters.ino index b251fb4..469a1ba 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -121,7 +121,7 @@ float getParameter(int index) { float getParameter(const char *name) { for (auto ¶meter : parameters) { - if (strcmp(parameter.name, name) == 0) { + if (strcasecmp(parameter.name, name) == 0) { return parameter.getValue(); } } @@ -130,7 +130,7 @@ float getParameter(const char *name) { bool setParameter(const char *name, const float value) { for (auto ¶meter : parameters) { - if (strcmp(parameter.name, name) == 0) { + if (strcasecmp(parameter.name, name) == 0) { if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf parameter.setValue(value); return true; diff --git a/flix/rc.ino b/flix/rc.ino index 5702316..0095d55 100644 --- a/flix/rc.ino +++ b/flix/rc.ino @@ -13,10 +13,10 @@ 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 controlMode = NAN; float controlTime; // time of the last controls update (0 when no RC) -// Channels mapping (using float to store in parameters): +// Channels mapping (nan means not assigned): float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN; void setupRC() { From 6d01cd2e791886025d18aaf006f268f5b0661b4d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 22 Jan 2026 23:57:52 +0300 Subject: [PATCH 032/154] Make failsafe configurable using parameters SF_RC_LOSS_TIME - time without rc to activate failsafe. SD_DESCEND_TIME - total time to decrease the throttle to zero. Make controlTime nan on the start to simplify the logic. --- flix/parameters.ino | 4 ++++ flix/rc.ino | 2 +- flix/safety.ino | 11 +++++------ 3 files changed, 10 insertions(+), 7 deletions(-) diff --git a/flix/parameters.ino b/flix/parameters.ino index 469a1ba..e58abed 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -10,6 +10,7 @@ extern float channelZero[16]; extern float channelMax[16]; extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern int wifiMode, udpLocalPort, udpRemotePort; +extern float rcLossTimeout, descendTime; Preferences storage; @@ -91,6 +92,9 @@ Parameter parameters[] = { {"MAV_SYS_ID", &mavlinkSysId}, {"MAV_RATE_SLOW", &telemetrySlow.rate}, {"MAV_RATE_FAST", &telemetryFast.rate}, + // safety + {"SF_RC_LOSS_TIME", &rcLossTimeout}, + {"SF_DESCEND_TIME", &descendTime}, }; void setupParameters() { diff --git a/flix/rc.ino b/flix/rc.ino index 0095d55..f046e5b 100644 --- a/flix/rc.ino +++ b/flix/rc.ino @@ -14,7 +14,7 @@ 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) +float controlTime = NAN; // time of the last controls update // Channels mapping (nan means not assigned): float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN; diff --git a/flix/safety.ino b/flix/safety.ino index 35ece02..1d67010 100644 --- a/flix/safety.ino +++ b/flix/safety.ino @@ -3,12 +3,12 @@ // Fail-safe functions -#define RC_LOSS_TIMEOUT 1 -#define DESCEND_TIME 10 - extern float controlTime; extern float controlRoll, controlPitch, controlThrottle, controlYaw; +float rcLossTimeout = 1; +float descendTime = 10; + void failsafe() { rcLossFailsafe(); autoFailsafe(); @@ -16,9 +16,8 @@ void failsafe() { // RC loss failsafe void rcLossFailsafe() { - if (controlTime == 0) return; // no RC at all if (!armed) return; - if (t - controlTime > RC_LOSS_TIMEOUT) { + if (t - controlTime > rcLossTimeout) { descend(); } } @@ -27,7 +26,7 @@ void rcLossFailsafe() { void descend() { mode = AUTO; attitudeTarget = Quaternion(); - thrustTarget -= dt / DESCEND_TIME; + thrustTarget -= dt / descendTime; if (thrustTarget < 0) { thrustTarget = 0; armed = false; From cf10ec6161d440513d2afcd264a8a745a3fcba42 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 23 Jan 2026 01:11:35 +0300 Subject: [PATCH 033/154] Update MAVLink-Arduino to 2.0.16 --- Makefile | 2 +- docs/usage.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Makefile b/Makefile index 4102d3f..84253ca 100644 --- a/Makefile +++ b/Makefile @@ -16,7 +16,7 @@ dependencies .dependencies: arduino-cli core install esp32:esp32@3.2.0 --config-file arduino-cli.yaml arduino-cli lib update-index arduino-cli lib install "FlixPeriph" - arduino-cli lib install "MAVLink"@2.0.16 + arduino-cli lib install "MAVLink"@2.0.25 touch .dependencies gazebo/build cmake: gazebo/CMakeLists.txt diff --git a/docs/usage.md b/docs/usage.md index ae9894e..01bd8fb 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -23,7 +23,7 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b 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. + * `MAVLink`, version 2.0.25. 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. From 5b654e4d8e72adf8b1d4bfa7fe22e735fb5aba63 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 23 Jan 2026 02:41:43 +0300 Subject: [PATCH 034/154] Update ESP32-Core to 3.3.6 --- .vscode/c_cpp_properties.json | 54 +++++++++++++++++------------------ Makefile | 2 +- docs/usage.md | 2 +- 3 files changed, 29 insertions(+), 29 deletions(-) diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 2c3027f..7b42a9b 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -6,19 +6,18 @@ "${workspaceFolder}/flix", "${workspaceFolder}/gazebo", "${workspaceFolder}/tools/**", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32", - "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**", - "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32", + "~/.arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**", "~/Arduino/libraries/**", "/usr/include/gazebo-11/", "/usr/include/ignition/math6/" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h", "${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/control.ino", "${workspaceFolder}/flix/estimate.ino", @@ -31,9 +30,10 @@ "${workspaceFolder}/flix/rc.ino", "${workspaceFolder}/flix/time.ino", "${workspaceFolder}/flix/wifi.ino", - "${workspaceFolder}/flix/parameters.ino" + "${workspaceFolder}/flix/parameters.ino", + "${workspaceFolder}/flix/safety.ino" ], - "compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++", + "compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++", "cStandard": "c11", "cppStandard": "c++17", "defines": [ @@ -53,19 +53,18 @@ "name": "Mac", "includePath": [ "${workspaceFolder}/flix", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32", - "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/include/**", - "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32", + "~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**", "~/Documents/Arduino/libraries/**", "/opt/homebrew/include/gazebo-11/", "/opt/homebrew/include/ignition/math6/" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h", "${workspaceFolder}/flix/flix.ino", "${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/control.ino", @@ -78,9 +77,10 @@ "${workspaceFolder}/flix/rc.ino", "${workspaceFolder}/flix/time.ino", "${workspaceFolder}/flix/wifi.ino", - "${workspaceFolder}/flix/parameters.ino" + "${workspaceFolder}/flix/parameters.ino", + "${workspaceFolder}/flix/safety.ino" ], - "compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++", + "compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++", "cStandard": "c11", "cppStandard": "c++17", "defines": [ @@ -103,17 +103,16 @@ "${workspaceFolder}/flix", "${workspaceFolder}/gazebo", "${workspaceFolder}/tools/**", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32", - "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**", - "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32", + "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**", "~/Documents/Arduino/libraries/**" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h", "${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/control.ino", "${workspaceFolder}/flix/estimate.ino", @@ -126,9 +125,10 @@ "${workspaceFolder}/flix/rc.ino", "${workspaceFolder}/flix/time.ino", "${workspaceFolder}/flix/wifi.ino", - "${workspaceFolder}/flix/parameters.ino" + "${workspaceFolder}/flix/parameters.ino", + "${workspaceFolder}/flix/safety.ino" ], - "compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++.exe", + "compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++.exe", "cStandard": "c11", "cppStandard": "c++17", "defines": [ diff --git a/Makefile b/Makefile index 84253ca..2584560 100644 --- a/Makefile +++ b/Makefile @@ -13,7 +13,7 @@ monitor: dependencies .dependencies: arduino-cli core update-index --config-file arduino-cli.yaml - arduino-cli core install esp32:esp32@3.2.0 --config-file arduino-cli.yaml + arduino-cli core install esp32:esp32@3.3.6 --config-file arduino-cli.yaml arduino-cli lib update-index arduino-cli lib install "FlixPeriph" arduino-cli lib install "MAVLink"@2.0.25 diff --git a/docs/usage.md b/docs/usage.md index 01bd8fb..5265fa9 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -20,7 +20,7 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b 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. +3. Install ESP32 core, version 3.3.6. 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 2.0.25. From 7ad302279898e67277438e564ba1af94c06e9162 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 24 Jan 2026 09:31:32 +0300 Subject: [PATCH 035/154] Add parameter for configuring gyro bias lpf + reset the filter on `reset` command --- flix/cli.ino | 3 +++ flix/imu.ino | 4 ++-- flix/parameters.ino | 1 + 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/flix/cli.ino b/flix/cli.ino index 2e4f9f8..bd67c30 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -6,6 +6,7 @@ #include "pid.h" #include "vector.h" #include "util.h" +#include "lpf.h" extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int RAW, ACRO, STAB, AUTO; @@ -14,6 +15,7 @@ extern uint16_t channels[16]; extern float controlTime; extern int mode; extern bool armed; +extern LowPassFilter gyroBiasFilter; const char* motd = "\nWelcome to\n" @@ -178,6 +180,7 @@ void doCommand(String str, bool echo = false) { #endif } else if (command == "reset") { attitude = Quaternion(); + gyroBiasFilter.reset(); } else if (command == "reboot") { ESP.restart(); } else { diff --git a/flix/imu.ino b/flix/imu.ino index 22cf3e3..ffdc1ff 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -19,6 +19,8 @@ Vector acc; // accelerometer output, m/s/s Vector accBias; Vector accScale(1, 1, 1); +LowPassFilter gyroBiasFilter(0.001); + void setupIMU() { print("Setup IMU\n"); imu.begin(); @@ -50,8 +52,6 @@ void readIMU() { void calibrateGyroOnce() { static Delay landedDelay(2); if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary - - static LowPassFilter gyroBiasFilter(0.001); gyroBias = gyroBiasFilter.update(gyro); } diff --git a/flix/parameters.ino b/flix/parameters.ino index e58abed..498bfb7 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -59,6 +59,7 @@ Parameter parameters[] = { {"IMU_ACC_SCALE_X", &accScale.x}, {"IMU_ACC_SCALE_Y", &accScale.y}, {"IMU_ACC_SCALE_Z", &accScale.z}, + {"IMU_GYRO_BIAS_A", &gyroBiasFilter.alpha}, // estimate {"EST_ACC_WEIGHT", &accWeight}, {"EST_RATES_LPF_A", &ratesFilter.alpha}, From e47a31f9816cf21e1177ab714c55b559b2b4b455 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 24 Jan 2026 09:32:49 +0300 Subject: [PATCH 036/154] Fix mavlink parameter set acknowledgement value If the parameter is integer the acknowledgement should contain the rounded value. --- flix/mavlink.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index 15bbba5..c7b3785 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -142,7 +142,7 @@ void handleMavlink(const void *_msg) { // send ack mavlink_message_t msg; mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, - m.param_id, m.param_value, MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown + m.param_id, getParameter(name), MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown sendMessage(&msg); } From ca50f75576608c42e30064171e393e966c7781c7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 24 Jan 2026 09:34:16 +0300 Subject: [PATCH 037/154] Various minor fixes --- docs/troubleshooting.md | 2 +- flix/flix.ino | 1 - tools/grab_log.py | 2 +- 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 94ce53c..918116c 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -16,7 +16,7 @@ Do the following: * **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output. * **Check the baudrate is correct**. If you see garbage characters in the Serial Monitor, make sure the baudrate is set to 115200. * **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file. -* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the CLI using QGroundControl (*Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*). +* **Check if the console is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the console using QGroundControl (*Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*). * **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**. * **If QGroundControl doesn't connect**, you might need to disable the firewall and/or VPN on your computer. * **Check the IMU is working**. Perform `imu` command and check its output: diff --git a/flix/flix.ino b/flix/flix.ino index 370d66a..5d5ee43 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -7,7 +7,6 @@ #include "quaternion.h" #include "util.h" - extern float t, dt; extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; extern Vector gyro, acc; diff --git a/tools/grab_log.py b/tools/grab_log.py index c1e1a94..1f7d0ae 100755 --- a/tools/grab_log.py +++ b/tools/grab_log.py @@ -13,7 +13,7 @@ lines = [] print('Downloading log...') count = 0 -dev.write('log\n'.encode()) +dev.write('log dump\n'.encode()) while True: line = dev.readline() if not line: From 9fd35ba3611e840fa39d8d14fcc163bbb36b283d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 24 Jan 2026 09:43:46 +0300 Subject: [PATCH 038/154] Simplify lpf filter code Begin with zero instead of the initializing value, as the latter doesn't make much sense in practice, but complicates the code much. --- flix/lpf.h | 14 +------------- 1 file changed, 1 insertion(+), 13 deletions(-) diff --git a/flix/lpf.h b/flix/lpf.h index 88cf8ab..9eae80d 100644 --- a/flix/lpf.h +++ b/flix/lpf.h @@ -14,15 +14,6 @@ public: LowPassFilter(float alpha): alpha(alpha) {}; T update(const T input) { - if (alpha == 1) { // filter disabled - return input; - } - - if (!initialized) { - output = input; - initialized = true; - } - return output += alpha * (input - output); } @@ -31,9 +22,6 @@ public: } void reset() { - initialized = false; + output = T(); // set to zero } - -private: - bool initialized = false; }; From 7d74f3d5cdf18998a6e27591cb464f500ed19689 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 27 Jan 2026 07:21:21 +0300 Subject: [PATCH 039/154] Minor docs fixes --- README.md | 8 ++++---- docs/assembly.md | 8 ++++---- docs/book/geometry.md | 18 +++++++++--------- docs/book/gyro.md | 2 +- docs/troubleshooting.md | 4 ++-- docs/usage.md | 4 ++-- tools/pyflix/README.md | 24 ++++++++++-------------- 7 files changed, 32 insertions(+), 36 deletions(-) diff --git a/README.md b/README.md index 58e490a..bf62098 100644 --- a/README.md +++ b/README.md @@ -138,10 +138,10 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir |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*)| + |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)*| 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. diff --git a/docs/assembly.md b/docs/assembly.md index 5f5d6d5..b23c113 100644 --- a/docs/assembly.md +++ b/docs/assembly.md @@ -41,10 +41,10 @@ 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*)| +|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 diff --git a/docs/book/geometry.md b/docs/book/geometry.md index 3523725..65df08d 100644 --- a/docs/book/geometry.md +++ b/docs/book/geometry.md @@ -110,7 +110,7 @@ float angle = Vector::angleBetween(a, b); // 1.57 (90 градусов) #### Скалярное произведение -Скалярное произведение векторов (*dot product*) — это произведение длин двух векторов на косинус угла между ними. В математике оно обозначается знаком `·` или слитным написанием векторов. Интуитивно, результат скалярного произведения показывает, насколько два вектора *сонаправлены*. +Скалярное произведение векторов *(dot product)* — это произведение длин двух векторов на косинус угла между ними. В математике оно обозначается знаком `·` или слитным написанием векторов. Интуитивно, результат скалярного произведения показывает, насколько два вектора *сонаправлены*. В Flix используется статический метод `Vector::dot()`: @@ -124,7 +124,7 @@ float dotProduct = Vector::dot(a, b); // 32 #### Векторное произведение -Векторное произведение (*cross product*) позволяет найти вектор, перпендикулярный двум другим векторам. В математике оно обозначается знаком `×`, а в прошивке используется статический метод `Vector::cross()`: +Векторное произведение *(cross product)* позволяет найти вектор, перпендикулярный двум другим векторам. В математике оно обозначается знаком `×`, а в прошивке используется статический метод `Vector::cross()`: ```cpp Vector a(1, 2, 3); @@ -144,9 +144,9 @@ Vector crossProduct = Vector::cross(a, b); // -3, 6, -3 В прошивке углы Эйлера сохраняются в обычный объект `Vector` (хоть и, строго говоря, не являются вектором): -* Угол по крену (*roll*) — `vector.x`. -* Угол по тангажу (*pitch*) — `vector.y`. -* Угол по рысканию (*yaw*) — `vector.z`. +* Угол по крену *(roll)* — `vector.x`. +* Угол по тангажу *(pitch)* — `vector.y`. +* Угол по рысканию *(yaw)* — `vector.z`. Особенности углов Эйлера: @@ -162,8 +162,8 @@ Vector crossProduct = Vector::cross(a, b); // -3, 6, -3 Помимо углов Эйлера, любую ориентацию в трехмерном пространстве можно представить в виде вращения вокруг некоторой оси на некоторый угол. В геометрии это доказывается, как **теорема вращения Эйлера**. В таком представлении ориентация задается двумя величинами: -* **Ось вращения** (*axis*) — единичный вектор, определяющий ось вращения. -* **Угол поворота** (*angle* или *θ*) — угол, на который нужно повернуть объект вокруг этой оси. +* **Ось вращения** *(axis)* — единичный вектор, определяющий ось вращения. +* **Угол поворота** *(angle* или *θ)* — угол, на который нужно повернуть объект вокруг этой оси. В Flix ось вращения задается объектом `Vector`, а угол поворота — числом типа `float` в радианах: @@ -177,7 +177,7 @@ float angle = radians(45); ### Вектор вращения -Если умножить вектор *axis* на угол поворота *θ*, то получится **вектор вращения** (*rotation vector*). Этот вектор играет важную роль в алгоритмах управления ориентацией летательного аппарата. +Если умножить вектор *axis* на угол поворота *θ*, то получится **вектор вращения** *(rotation vector)*. Этот вектор играет важную роль в алгоритмах управления ориентацией летательного аппарата. Вектор вращения обладает замечательным свойством: если угловые скорости объекта (в собственной системе координат) в каждый момент времени совпадают с компонентами этого вектора, то за единичное время объект придет к заданной этим вектором ориентации. Это свойство позволяет использовать вектор вращения для управления ориентацией объекта посредством управления угловыми скоростями. @@ -198,7 +198,7 @@ Vector rotation = radians(45) * Vector(1, 2, 3); quaternion.h.
-Вектор вращения удобен, но еще удобнее использовать **кватернион**. В Flix кватернионы задаются объектами `Quaternion` из библиотеки `quaternion.h`. Кватернион состоит из четырех значений: *w*, *x*, *y*, *z* и рассчитывается из вектора оси вращения (*axis*) и угла поворота (*θ*) по формуле: +Вектор вращения удобен, но еще удобнее использовать **кватернион**. В Flix кватернионы задаются объектами `Quaternion` из библиотеки `quaternion.h`. Кватернион состоит из четырех значений: *w*, *x*, *y*, *z* и рассчитывается из вектора оси вращения *(axis)* и угла поворота *(θ)* по формуле: \\[ q = \left( \begin{array}{c} w \\\\ x \\\\ y \\\\ z \end{array} \right) = \left( \begin{array}{c} \cos\left(\frac{\theta}{2}\right) \\\\ axis\_x \cdot \sin\left(\frac{\theta}{2}\right) \\\\ axis\_y \cdot \sin\left(\frac{\theta}{2}\right) \\\\ axis\_z \cdot \sin\left(\frac{\theta}{2}\right) \end{array} \right) \\] diff --git a/docs/book/gyro.md b/docs/book/gyro.md index 5034343..e5dc223 100644 --- a/docs/book/gyro.md +++ b/docs/book/gyro.md @@ -177,7 +177,7 @@ imu.setDLPF(imu.DLPF_MAX); ## Калибровка гироскопа -Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения (*bias*) и случайный шум (*noise*): +Как и любое измерительное устройство, гироскоп вносит искажения в измерения. Наиболее простая модель этих искажений делит их на статические смещения *(bias)* и случайный шум *(noise)*: \\[ gyro_{xyz}=rates_{xyz}+bias_{xyz}+noise \\] diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 918116c..1d5293e 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -13,10 +13,10 @@ Do the following: Do the following: * **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V. -* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output. +* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 startup output. * **Check the baudrate is correct**. If you see garbage characters in the Serial Monitor, make sure the baudrate is set to 115200. * **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file. -* **Check if the console is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the console using QGroundControl (*Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*). +* **Check if the console is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the console using QGroundControl *(Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console)*. * **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**. * **If QGroundControl doesn't connect**, you might need to disable the firewall and/or VPN on your computer. * **Check the IMU is working**. Perform `imu` command and check its output: diff --git a/docs/usage.md b/docs/usage.md index 5265fa9..3e993ed 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -250,8 +250,8 @@ You can configure the Wi-Fi using parameters and console commands. The Wi-Fi mode is chosen using `WIFI_MODE` parameter in QGroundControl or in the console: * `0` — Wi-Fi is disabled. -* `1` — Access Point mode (*AP*) — the drone creates a Wi-Fi network. -* `2` — Client mode (*STA*) — the drone connects to an existing Wi-Fi network. +* `1` — Access Point mode *(AP)* — the drone creates a Wi-Fi network. +* `2` — Client mode *(STA)* — the drone connects to an existing Wi-Fi network. * `3` — *ESP-NOW (not implemented yet)*. > [!WARNING] diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index c336275..4ffb794 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -92,17 +92,17 @@ Full list of events: |-----|-----------|----------------| |`connected`|Connected to the drone|| |`disconnected`|Connection is lost|| -|`armed`|Armed state update|Armed state (*bool*)| -|`mode`|Flight mode update|Flight mode (*str*)| -|`landed`|Landed state update|Landed state (*bool*)| +|`armed`|Armed state update|Armed state *(bool)*| +|`mode`|Flight mode update|Flight mode *(str)*| +|`landed`|Landed state update|Landed state *(bool)*| |`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`|Motor outputs update|Motor outputs (*list*)| -|`acc`|Accelerometer update|Accelerometer output (*list*)| -|`gyro`|Gyroscope update|Gyroscope output (*list*)| +|`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`|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| @@ -277,7 +277,3 @@ logger = logging.getLogger('flix') logger.setLevel(logging.DEBUG) # be more verbose logger.setLevel(logging.WARNING) # be less verbose ``` - -## Stability - -The library is in development stage. The API is not stable. From 40bdaacedb95dc77032fab6f0424fb6b424d878a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 27 Jan 2026 08:40:52 +0300 Subject: [PATCH 040/154] Make motor subsystem configurable using parameters Motor pins: MOT_PIN_FL, MOT_PIN_FR, MOT_PIN_RL, MOT_PIN_RR. PWM configuration: MOT_PWM_FREQ, MOT_PWM_RES, MOT_PWM_STOP, MOT_PWM_MIN, MOT_PWM_MAX. MOT_PWM_MAX = -1 chooses duty cycle mode for brushed motors (default). --- docs/usage.md | 14 ++++++++++++ flix/motors.ino | 55 +++++++++++++++++++++------------------------ flix/parameters.ino | 10 +++++++++ gazebo/flix.h | 1 + 4 files changed, 50 insertions(+), 30 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 3e993ed..d6d2669 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -134,6 +134,20 @@ Before flight you need to calibrate the accelerometer: 1. Access the console using QGroundControl (recommended) or Serial Monitor. 2. Type `ca` command there and follow the instructions. +### Setup motors + +If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively). + +If using brushless motors and ESCs: + +1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical). +2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical). + +Reboot the drone to apply the changes. + +> [!CAUTION] +> **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them. + ### Check everything works 1. Check the IMU is working: perform `imu` command and check its output: diff --git a/flix/motors.ino b/flix/motors.ino index 3dde15c..1dee5fa 100644 --- a/flix/motors.ino +++ b/flix/motors.ino @@ -1,24 +1,19 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// Motors output control using MOSFETs -// In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400) +// PWM control for motors #include "util.h" -#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] +int motorPins[4] = {12, 13, 14, 15}; // default pin numbers +int pwmFrequency = 78000; +int pwmResolution = 10; +int pwmStop = 0; +int pwmMin = 0; +int pwmMax = -1; // -1 means duty cycle mode + const int MOTOR_REAR_LEFT = 0; const int MOTOR_REAR_RIGHT = 1; const int MOTOR_FRONT_RIGHT = 2; @@ -26,30 +21,30 @@ const int MOTOR_FRONT_LEFT = 3; void setupMotors() { print("Setup Motors\n"); - // configure pins - ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION); - ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION); - ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION); - ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION); - + for (int i = 0; i < 4; i++) { + ledcAttach(motorPins[i], pwmFrequency, pwmResolution); + } sendMotors(); print("Motors initialized\n"); } -int getDutyCycle(float value) { - value = constrain(value, 0, 1); - float pwm = mapf(value, 0, 1, PWM_MIN, PWM_MAX); - if (value == 0) pwm = PWM_STOP; - float duty = mapf(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1); - return round(duty); +void sendMotors() { + for (int i = 0; i < 4; i++) { + ledcWrite(motorPins[i], getDutyCycle(motors[i])); + } } -void sendMotors() { - ledcWrite(MOTOR_0_PIN, getDutyCycle(motors[0])); - ledcWrite(MOTOR_1_PIN, getDutyCycle(motors[1])); - ledcWrite(MOTOR_2_PIN, getDutyCycle(motors[2])); - ledcWrite(MOTOR_3_PIN, getDutyCycle(motors[3])); +int getDutyCycle(float value) { + value = constrain(value, 0, 1); + if (pwmMax >= 0) { // pwm mode + float pwm = mapf(value, 0, 1, pwmMin, pwmMax); + if (value == 0) pwm = pwmStop; + float duty = mapf(pwm, 0, 1000000 / pwmFrequency, 0, (1 << pwmResolution) - 1); + return round(duty); + } else { // duty cycle mode + return round(value * ((1 << pwmResolution) - 1)); + } } bool motorsActive() { diff --git a/flix/parameters.ino b/flix/parameters.ino index 498bfb7..77aa21a 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -63,6 +63,16 @@ Parameter parameters[] = { // estimate {"EST_ACC_WEIGHT", &accWeight}, {"EST_RATES_LPF_A", &ratesFilter.alpha}, + // motors + {"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT]}, + {"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT]}, + {"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT]}, + {"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT]}, + {"MOT_PWM_FREQ", &pwmFrequency}, + {"MOT_PWM_RES", &pwmResolution}, + {"MOT_PWM_STOP", &pwmStop}, + {"MOT_PWM_MIN", &pwmMin}, + {"MOT_PWM_MAX", &pwmMax}, // rc {"RC_ZERO_0", &channelZero[0]}, {"RC_ZERO_1", &channelZero[1]}, diff --git a/gazebo/flix.h b/gazebo/flix.h index 8d13f5e..b3b3cb7 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -32,6 +32,7 @@ void controlRates(); void controlTorque(); const char* getModeName(); void sendMotors(); +int getDutyCycle(float value); bool motorsActive(); void testMotor(int n); void print(const char* format, ...); From 964c0f7bc1e96ab777a144e45a68918b61098118 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 27 Jan 2026 09:28:01 +0300 Subject: [PATCH 041/154] Make setting parameter in console printing actual parameter value. In some cases, it would not be equal to the requested value. --- flix/cli.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/cli.ino b/flix/cli.ino index bd67c30..3250d0e 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -94,7 +94,7 @@ void doCommand(String str, bool echo = false) { } else if (command == "p") { bool success = setParameter(arg0.c_str(), arg1.toFloat()); if (success) { - print("%s = %g\n", arg0.c_str(), arg1.toFloat()); + print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str())); } else { print("Parameter not found: %s\n", arg0.c_str()); } From 1ac443d6f8c5343efa21728fd3d3c5b1a0a59d46 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 27 Jan 2026 15:17:58 +0300 Subject: [PATCH 042/154] Add a build by Arky Matsekh --- docs/img/user/arkymatsekh/1.jpg | Bin 0 -> 63000 bytes docs/img/user/arkymatsekh/2.jpg | Bin 0 -> 49346 bytes docs/img/user/arkymatsekh/3.jpg | Bin 0 -> 51598 bytes docs/img/user/arkymatsekh/video.jpg | Bin 0 -> 17664 bytes 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Master's capstone project. + +**Flight video:** + + + + + +--- + Author: [goldarte](https://t.me/goldarte).
From 377b21429bec58e37b9a1eead37055ae17af1094 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 27 Jan 2026 16:32:52 +0300 Subject: [PATCH 043/154] Fix error when launching the sim Also make the parameters WIFI_LOC_PORT and WIFI_REM_PORT work in the sim. --- gazebo/flix.h | 2 ++ gazebo/wifi.h | 17 +++++++++-------- 2 files changed, 11 insertions(+), 8 deletions(-) diff --git a/gazebo/flix.h b/gazebo/flix.h index b3b3cb7..5c61ee5 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -9,6 +9,7 @@ #include "quaternion.h" #include "Arduino.h" #include "wifi.h" +#include "lpf.h" extern float t, dt; extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; @@ -19,6 +20,7 @@ extern float motors[4]; Vector gyro, acc, imuRotation; Vector accBias, gyroBias, accScale(1, 1, 1); +LowPassFilter gyroBiasFilter(0); // declarations void step(); diff --git a/gazebo/wifi.h b/gazebo/wifi.h index 426f2d8..1c7b708 100644 --- a/gazebo/wifi.h +++ b/gazebo/wifi.h @@ -11,9 +11,10 @@ #include #include -#define WIFI_UDP_PORT 14580 -#define WIFI_UDP_REMOTE_PORT 14550 -#define WIFI_UDP_REMOTE_ADDR "255.255.255.255" +int wifiMode = 1; // mock +int udpLocalPort = 14580; +int udpRemotePort = 14550; +const char *udpRemoteIP = "255.255.255.255"; int wifiSocket; @@ -22,22 +23,22 @@ void setupWiFi() { sockaddr_in addr; // local address addr.sin_family = AF_INET; addr.sin_addr.s_addr = INADDR_ANY; - addr.sin_port = htons(WIFI_UDP_PORT); + addr.sin_port = htons(udpLocalPort); if (bind(wifiSocket, (sockaddr *)&addr, sizeof(addr))) { - gzerr << "Failed to bind WiFi UDP socket on port " << WIFI_UDP_PORT << std::endl; + gzerr << "Failed to bind WiFi UDP socket on port " << udpLocalPort << std::endl; return; } int broadcast = 1; setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast - gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT << " (remote port " << WIFI_UDP_REMOTE_PORT << ")" << std::endl; + gzmsg << "WiFi UDP socket initialized on port " << udpLocalPort << " (remote port " << udpRemotePort << ")" << std::endl; } void sendWiFi(const uint8_t *buf, int len) { if (wifiSocket == 0) setupWiFi(); sockaddr_in addr; // remote address addr.sin_family = AF_INET; - addr.sin_addr.s_addr = inet_addr(WIFI_UDP_REMOTE_ADDR); - addr.sin_port = htons(WIFI_UDP_REMOTE_PORT); + addr.sin_addr.s_addr = inet_addr(udpRemoteIP); + addr.sin_port = htons(udpRemotePort); sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr)); } From 3dde380bb7eefc825d6302c4d27c5658c140ae23 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 27 Jan 2026 16:38:20 +0300 Subject: [PATCH 044/154] Add parameters for list of modes bound to rc switch Parameters: CTL_FLT_MODE_0, CTL_FLT_MODE_1, CTL_FLT_MODE_2. Also fix a bug with incorrect choosing the mode from controlMode. --- flix/control.ino | 7 ++++--- flix/parameters.ino | 3 +++ 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/flix/control.ino b/flix/control.ino index 8f6d8e6..50601cb 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -52,6 +52,7 @@ PID pitchPID(PITCH_P, PITCH_I, PITCH_D); PID yawPID(YAW_P, 0, 0); Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX); float tiltMax = TILT_MAX; +int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode; @@ -65,9 +66,9 @@ void control() { } void interpretControls() { - if (controlMode < 0.25) mode = STAB; - if (controlMode < 0.75) mode = STAB; - if (controlMode > 0.75) mode = STAB; + if (controlMode < 0.25) mode = flightModes[0]; + else if (controlMode < 0.75) mode = flightModes[1]; + else if (controlMode > 0.75) mode = flightModes[2]; if (mode == AUTO) return; // pilot is not effective in AUTO mode diff --git a/flix/parameters.ino b/flix/parameters.ino index 77aa21a..a8a83f9 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -49,6 +49,9 @@ Parameter parameters[] = { {"CTL_R_RATE_MAX", &maxRate.x}, {"CTL_Y_RATE_MAX", &maxRate.z}, {"CTL_TILT_MAX", &tiltMax}, + {"CTL_FLT_MODE_0", &flightModes[0]}, + {"CTL_FLT_MODE_1", &flightModes[1]}, + {"CTL_FLT_MODE_2", &flightModes[2]}, // imu {"IMU_ROT_ROLL", &imuRotation.x}, {"IMU_ROT_PITCH", &imuRotation.y}, From 3631743a29a58a49373221a5c6bd3d09ac1fdbf5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 2 Feb 2026 18:28:20 +0300 Subject: [PATCH 045/154] Drop messages from another systems in pyflix We shouldn't pass messages where system id != our system id. This change may be useful when there are many drones in one network. --- tools/pyflix/flix.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py index a12d25f..757ebfa 100644 --- a/tools/pyflix/flix.py +++ b/tools/pyflix/flix.py @@ -138,7 +138,7 @@ class Flix: while True: try: msg: Optional[mavlink.MAVLink_message] = self.connection.recv_match(blocking=True) - if msg is None: + if msg is None or msg.get_srcSystem() != self.system_id: continue self._connected() msg_dict = msg.to_dict() From 67430c7aac8f1811c39a20e0c94ab4c90ea75174 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 2 Feb 2026 18:46:36 +0300 Subject: [PATCH 046/154] Several minor changes --- flix/estimate.ino | 2 +- flix/flix.ino | 2 +- flix/mavlink.ino | 9 +++++---- flix/parameters.ino | 5 +++-- 4 files changed, 10 insertions(+), 8 deletions(-) diff --git a/flix/estimate.ino b/flix/estimate.ino index a873b9a..e07bd07 100644 --- a/flix/estimate.ino +++ b/flix/estimate.ino @@ -1,7 +1,7 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// Attitude estimation from gyro and accelerometer +// Attitude estimation using gyro and accelerometer #include "quaternion.h" #include "vector.h" diff --git a/flix/flix.ino b/flix/flix.ino index 5d5ee43..422b818 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -21,8 +21,8 @@ void setup() { disableBrownOut(); setupParameters(); setupLED(); - setupMotors(); setLED(true); + setupMotors(); setupWiFi(); setupIMU(); setupRC(); diff --git a/flix/mavlink.ino b/flix/mavlink.ino index c7b3785..2df74d6 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -8,12 +8,13 @@ extern float controlTime; -bool mavlinkConnected = false; -String mavlinkPrintBuffer; int mavlinkSysId = 1; Rate telemetryFast(10); Rate telemetrySlow(2); +bool mavlinkConnected = false; +String mavlinkPrintBuffer; + void processMavlink() { sendMavlink(); receiveMavlink(); @@ -41,9 +42,9 @@ void sendMavlink() { } if (telemetryFast && mavlinkConnected) { - const float zeroQuat[] = {0, 0, 0, 0}; + const float offset[] = {0, 0, 0, 0}; mavlink_msg_attitude_quaternion_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, - time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, zeroQuat); // convert to frd + time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, offset); // convert to frd sendMessage(&msg); mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0, diff --git a/flix/parameters.ino b/flix/parameters.ino index a8a83f9..dc924a4 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -15,9 +15,9 @@ extern float rcLossTimeout, descendTime; Preferences storage; struct Parameter { - const char *name; // max length is 15 (Preferences key limit) + const char *name; // max length is 15 bool integer; - union { float *f; int *i; }; // pointer to variable + union { float *f; int *i; }; // pointer to the variable float cache; // what's stored in flash Parameter(const char *name, float *variable) : name(name), integer(false), f(variable) {}; Parameter(const char *name, int *variable) : name(name), integer(true), i(variable) {}; @@ -112,6 +112,7 @@ Parameter parameters[] = { }; void setupParameters() { + print("Setup parameters\n"); storage.begin("flix", false); // Read parameters from storage for (auto ¶meter : parameters) { From 3e49d4198647f3a3759350dc6a219c76b13a9a63 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 2 Feb 2026 20:36:22 +0300 Subject: [PATCH 047/154] Make rc channel numbers and calibration params use int instead of float As parameter subsystems supports int now, and int is much more natural here. --- flix/parameters.ino | 6 +++--- flix/rc.ino | 31 +++++++++++++++---------------- gazebo/flix.h | 2 +- 3 files changed, 19 insertions(+), 20 deletions(-) diff --git a/flix/parameters.ino b/flix/parameters.ino index dc924a4..3a0e501 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -6,9 +6,9 @@ #include #include "util.h" -extern float channelZero[16]; -extern float channelMax[16]; -extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; +extern int channelZero[16]; +extern int channelMax[16]; +extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern int wifiMode, udpLocalPort, udpRemotePort; extern float rcLossTimeout, descendTime; diff --git a/flix/rc.ino b/flix/rc.ino index f046e5b..d80f30f 100644 --- a/flix/rc.ino +++ b/flix/rc.ino @@ -9,15 +9,14 @@ SBUS rc(Serial2); uint16_t channels[16]; // raw rc channels -float channelZero[16]; // calibration zero values -float channelMax[16]; // calibration max values +int channelZero[16]; // calibration zero values +int channelMax[16]; // calibration max values float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1] float controlMode = NAN; float controlTime = NAN; // time of the last controls update -// Channels mapping (nan means not assigned): -float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN; +int rollChannel = -1, pitchChannel = -1, throttleChannel = -1, yawChannel = -1, modeChannel = -1; // channel mapping void setupRC() { print("Setup RC\n"); @@ -41,11 +40,11 @@ void normalizeRC() { controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1); } // Update control values - 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 + controlRoll = rollChannel < 0 ? 0 : controls[rollChannel]; + controlPitch = pitchChannel < 0 ? 0 : controls[pitchChannel]; + controlYaw = yawChannel < 0 ? 0 : controls[yawChannel]; + controlThrottle = throttleChannel < 0 ? 0 : controls[throttleChannel]; + controlMode = modeChannel < 0 ? NAN : controls[modeChannel]; // mode control is ineffective if not mapped } void calibrateRC() { @@ -64,7 +63,7 @@ void calibrateRC() { printRCCalibration(); } -void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const char *str) { +void calibrateRCChannel(int *channel, uint16_t in[16], uint16_t out[16], const char *str) { print("%s", str); pause(3); for (int i = 0; i < 30; i++) readRC(); // try update 30 times max @@ -85,15 +84,15 @@ void calibrateRCChannel(float *channel, uint16_t in[16], uint16_t out[16], const channelZero[ch] = in[ch]; channelMax[ch] = out[ch]; } else { - *channel = NAN; + *channel = -1; } } void printRCCalibration() { print("Control Ch Zero Max\n"); - print("Roll %-7g%-7g%-7g\n", rollChannel, rollChannel >= 0 ? channelZero[(int)rollChannel] : NAN, rollChannel >= 0 ? channelMax[(int)rollChannel] : NAN); - print("Pitch %-7g%-7g%-7g\n", pitchChannel, pitchChannel >= 0 ? channelZero[(int)pitchChannel] : NAN, pitchChannel >= 0 ? channelMax[(int)pitchChannel] : NAN); - print("Yaw %-7g%-7g%-7g\n", yawChannel, yawChannel >= 0 ? channelZero[(int)yawChannel] : NAN, yawChannel >= 0 ? channelMax[(int)yawChannel] : NAN); - print("Throttle %-7g%-7g%-7g\n", throttleChannel, throttleChannel >= 0 ? channelZero[(int)throttleChannel] : NAN, throttleChannel >= 0 ? channelMax[(int)throttleChannel] : NAN); - print("Mode %-7g%-7g%-7g\n", modeChannel, modeChannel >= 0 ? channelZero[(int)modeChannel] : NAN, modeChannel >= 0 ? channelMax[(int)modeChannel] : NAN); + print("Roll %-7d%-7d%-7d\n", rollChannel, rollChannel < 0 ? 0 : channelZero[rollChannel], rollChannel < 0 ? 0 : channelMax[rollChannel]); + print("Pitch %-7d%-7d%-7d\n", pitchChannel, pitchChannel < 0 ? 0 : channelZero[pitchChannel], pitchChannel < 0 ? 0 : channelMax[pitchChannel]); + print("Yaw %-7d%-7d%-7d\n", yawChannel, yawChannel < 0 ? 0 : channelZero[yawChannel], yawChannel < 0 ? 0 : channelMax[yawChannel]); + print("Throttle %-7d%-7d%-7d\n", throttleChannel, throttleChannel < 0 ? 0 : channelZero[throttleChannel], throttleChannel < 0 ? 0 : channelMax[throttleChannel]); + print("Mode %-7d%-7d%-7d\n", modeChannel, modeChannel < 0 ? 0 : channelZero[modeChannel], modeChannel < 0 ? 0 : channelMax[modeChannel]); } diff --git a/gazebo/flix.h b/gazebo/flix.h index 5c61ee5..96a3aad 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -43,7 +43,7 @@ void doCommand(String str, bool echo); void handleInput(); void normalizeRC(); void calibrateRC(); -void calibrateRCChannel(float *channel, uint16_t zero[16], uint16_t max[16], const char *str); +void calibrateRCChannel(int *channel, uint16_t zero[16], uint16_t max[16], const char *str); void printRCCalibration(); void printLogHeader(); void printLogData(); From a8c25d8ac002815e9b41e9d794a2afa9be126901 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 4 Feb 2026 17:52:23 +0300 Subject: [PATCH 048/154] Minor updates to usage article --- docs/usage.md | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index d6d2669..bcdb1c3 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -148,27 +148,29 @@ Reboot the drone to apply the changes. > [!CAUTION] > **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them. -### Check everything works +### Important: check everything works -1. Check the IMU is working: perform `imu` command and check its output: +1. Check the IMU is working: perform `imu` command in the console and check the 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 `accel bias` and `accel scale` fields should contain calibration parameters (not zeros and ones). + * The `gyro bias` field should contain estimated gyro bias (not zeros). * 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. Compare your attitude indicator (in the *large vertical* mode) to the video: -3. Perform motor tests in the console. Use the following commands **— remove the propellers before running the tests!** +3. Perform motor tests. 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). + * `mfr` — rotate front right motor (counter-clockwise). + * `mfl` — rotate front left motor (clockwise). + * `mrl` — rotate rear left motor (counter-clockwise). + * `mrr` — rotate rear right motor (clockwise). - Rotation diagram: + Make sure rotation directions and propeller types match the following diagram: @@ -234,11 +236,11 @@ When finished flying, **disarm** the drone, moving the left stick to the bottom ### Flight modes -Flight mode is changed using mode switch on the remote control or using the command line. +Flight mode is changed using mode switch on the remote control (if configured) or using the console commands. The main flight mode is *STAB*. #### STAB -The default mode is *STAB*. In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles. +In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles. > [!IMPORTANT] > The drone doesn't stabilize its position, so slight drift is possible. The pilot should compensate it manually. @@ -253,7 +255,7 @@ In this mode, the pilot controls the angular rates. This control method is diffi #### AUTO -In this mode, the pilot inputs are ignored (except the mode switch, if configured). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed autonomous behavior. +In this mode, the pilot inputs are ignored (except the mode switch). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed behavior. If the pilot moves the control sticks, the drone will switch back to *STAB* mode. From b2daf2587f35b28696cb29502bc42e69ea1ff843 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 19 Feb 2026 02:59:38 +0300 Subject: [PATCH 049/154] Minor parameters code simplifications readOnly is false by default INFINITY == INFINITY, so remove redundant check --- flix/parameters.ino | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/flix/parameters.ino b/flix/parameters.ino index 3a0e501..83ecbbb 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -113,7 +113,7 @@ Parameter parameters[] = { void setupParameters() { print("Setup parameters\n"); - storage.begin("flix", false); + storage.begin("flix"); // Read parameters from storage for (auto ¶meter : parameters) { if (!storage.isKey(parameter.name)) { @@ -165,8 +165,7 @@ void syncParameters() { for (auto ¶meter : parameters) { if (parameter.getValue() == parameter.cache) continue; // no change - if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NaN - if (isinf(parameter.getValue()) && isinf(parameter.cache)) continue; // both are Inf + if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN storage.putFloat(parameter.name, parameter.getValue()); parameter.cache = parameter.getValue(); // update cache From a687303062d79d773b5fe77f583e29eea9e03af1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 19 Feb 2026 04:56:12 +0300 Subject: [PATCH 050/154] Make motor parameters apply without reboot Add callback to parameter definition to call after parameter is changed. --- flix/motors.ino | 1 + flix/parameters.ino | 18 ++++++++++-------- gazebo/Arduino.h | 1 + 3 files changed, 12 insertions(+), 8 deletions(-) diff --git a/flix/motors.ino b/flix/motors.ino index 1dee5fa..42cb0c5 100644 --- a/flix/motors.ino +++ b/flix/motors.ino @@ -24,6 +24,7 @@ void setupMotors() { // configure pins for (int i = 0; i < 4; i++) { ledcAttach(motorPins[i], pwmFrequency, pwmResolution); + pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring } sendMotors(); print("Motors initialized\n"); diff --git a/flix/parameters.ino b/flix/parameters.ino index 83ecbbb..cef683f 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -19,8 +19,9 @@ struct Parameter { bool integer; union { float *f; int *i; }; // pointer to the variable float cache; // what's stored in flash - Parameter(const char *name, float *variable) : name(name), integer(false), f(variable) {}; - Parameter(const char *name, int *variable) : name(name), integer(true), i(variable) {}; + void (*callback)(); // called after parameter change + Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {}; + Parameter(const char *name, int *variable, void (*callback)() = nullptr) : name(name), integer(true), i(variable), callback(callback) {}; float getValue() const { return integer ? *i : *f; }; void setValue(const float value) { if (integer) *i = value; else *f = value; }; }; @@ -67,12 +68,12 @@ Parameter parameters[] = { {"EST_ACC_WEIGHT", &accWeight}, {"EST_RATES_LPF_A", &ratesFilter.alpha}, // motors - {"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT]}, - {"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT]}, - {"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT]}, - {"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT]}, - {"MOT_PWM_FREQ", &pwmFrequency}, - {"MOT_PWM_RES", &pwmResolution}, + {"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors}, + {"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors}, + {"MOT_PIN_RL", &motorPins[MOTOR_REAR_LEFT], setupMotors}, + {"MOT_PIN_RR", &motorPins[MOTOR_REAR_RIGHT], setupMotors}, + {"MOT_PWM_FREQ", &pwmFrequency, setupMotors}, + {"MOT_PWM_RES", &pwmResolution, setupMotors}, {"MOT_PWM_STOP", &pwmStop}, {"MOT_PWM_MIN", &pwmMin}, {"MOT_PWM_MAX", &pwmMax}, @@ -152,6 +153,7 @@ bool setParameter(const char *name, const float value) { if (strcasecmp(parameter.name, name) == 0) { if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf parameter.setValue(value); + if (parameter.callback) parameter.callback(); return true; } } diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h index 1ca8089..ad4bef4 100644 --- a/gazebo/Arduino.h +++ b/gazebo/Arduino.h @@ -165,6 +165,7 @@ void delay(uint32_t ms) { bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; } bool ledcWrite(uint8_t pin, uint32_t duty) { return true; } +uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; } unsigned long __micros; unsigned long __resetTime = 0; From 0730ceeffa58480fc9c863c524142bc44b896865 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 21 Feb 2026 07:12:36 +0300 Subject: [PATCH 051/154] Add new user builds --- docs/img/user/fanby0ru/1.jpg | Bin 0 -> 44992 bytes docs/img/user/fanby0ru/2.jpg | Bin 0 -> 56465 bytes docs/img/user/phalko/1.jpg | Bin 0 -> 107684 bytes 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zbAP;>H)J-?jq^>Qf-z#_MRt)?CWqbjZV3?WJg?H6kr*^IP1T@*dU43C?y_$c>dzyzF(NFMQD=4O zPdl>YYDg0P8~&79pX0u`p?fpvN2wV;iWXDo&n#gak-+jpT(CwmPD|HZ%aw4WNu+#A Q&y`@V_+E0x-QT1C*`J8C5dZ)H literal 0 HcmV?d00001 diff --git a/docs/user.md b/docs/user.md index 73717e0..b098c22 100644 --- a/docs/user.md +++ b/docs/user.md @@ -4,6 +4,22 @@ This page contains user-built drones based on the Flix project. Publish your pro --- +Author: [FanBy0ru](https://https://github.com/FanBy0ru).
+Description: custom 3D-printed frame.
+Frame STLs and flight validation: https://cults3d.com/en/3d-model/gadget/armature-pour-flix-drone. + + + +--- + +Author: Ivan44 Phalko.
+Description: custom PCB, cusom test bench.
+[Flight validation](https://drive.google.com/file/d/17DNDJ1gPmCmDRAwjedCbJ9RXAyqMqqcX/view?usp=sharing). + + + +--- + Author: **Arkadiy "Arky" Matsekh**, Foucault Dynamics, Gold Coast, Australia.
The drone was built for the University of Queensland industry-led Master's capstone project. From 814427dbfdcbb85aceff42b4f576e60af9972f51 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 27 Mar 2026 00:40:19 +0300 Subject: [PATCH 052/154] Minor docs change --- docs/troubleshooting.md | 2 +- docs/usage.md | 2 -- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 1d5293e..9b5925a 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -13,7 +13,7 @@ Do the following: Do the following: * **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V. -* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 startup output. +* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button or `reboot` command to see the whole startup output. * **Check the baudrate is correct**. If you see garbage characters in the Serial Monitor, make sure the baudrate is set to 115200. * **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file. * **Check if the console is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the console using QGroundControl *(Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console)*. diff --git a/docs/usage.md b/docs/usage.md index bcdb1c3..e5adedb 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -143,8 +143,6 @@ If using brushless motors and ESCs: 1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical). 2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical). -Reboot the drone to apply the changes. - > [!CAUTION] > **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them. From c434107eaf552ffffaa75f079ab3154662a4e8e6 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 27 Mar 2026 00:56:34 +0300 Subject: [PATCH 053/154] Add parameter for configuring sbus pin number, disable sbus by default --- docs/troubleshooting.md | 4 +++- docs/usage.md | 10 ++++++---- flix/parameters.ino | 2 ++ flix/rc.ino | 9 ++++++++- gazebo/SBUS.h | 2 +- 5 files changed, 20 insertions(+), 7 deletions(-) diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 9b5925a..c3a8e8a 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -35,5 +35,7 @@ Do the following: * **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. +* **If using SBUS receiver**: + * **Define the used GPIO pin** in `RC_RX_PIN` parameter. + * **Calibrate the RC** using `cr` command in the console. * **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 e5adedb..5439b0f 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -193,11 +193,13 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F ### Control with a remote control -Before using remote SBUS-connected remote control, you need to calibrate it: +Before using SBUS-connected remote control you need to enable SBUS and calibrate it: -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! +1. Connect to the drone using QGroundControl. +2. In parameters, set the `RC_RX_PIN` parameter to the GPIO pin number where the SBUS signal is connected, for example: 4. Negative value disables SBUS. +3. Reboot the drone to apply changes. +4. Open the console, type `cr` command and follow the instructions to calibrate the remote control. +5. Use the remote control to fly the drone! ### Control with a USB remote control diff --git a/flix/parameters.ino b/flix/parameters.ino index cef683f..cd4d779 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -9,6 +9,7 @@ extern int channelZero[16]; extern int channelMax[16]; extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; +extern int rcRxPin; extern int wifiMode, udpLocalPort, udpRemotePort; extern float rcLossTimeout, descendTime; @@ -78,6 +79,7 @@ Parameter parameters[] = { {"MOT_PWM_MIN", &pwmMin}, {"MOT_PWM_MAX", &pwmMax}, // rc + {"RC_RX_PIN", &rcRxPin}, {"RC_ZERO_0", &channelZero[0]}, {"RC_ZERO_1", &channelZero[1]}, {"RC_ZERO_2", &channelZero[2]}, diff --git a/flix/rc.ino b/flix/rc.ino index d80f30f..175e5ff 100644 --- a/flix/rc.ino +++ b/flix/rc.ino @@ -7,6 +7,7 @@ #include "util.h" SBUS rc(Serial2); +int rcRxPin = -1; // -1 means disabled uint16_t channels[16]; // raw rc channels int channelZero[16]; // calibration zero values @@ -19,11 +20,13 @@ float controlTime = NAN; // time of the last controls update int rollChannel = -1, pitchChannel = -1, throttleChannel = -1, yawChannel = -1, modeChannel = -1; // channel mapping void setupRC() { + if (rcRxPin < 0) return; print("Setup RC\n"); - rc.begin(); + rc.begin(rcRxPin); } bool readRC() { + if (rcRxPin < 0) return false; if (rc.read()) { SBUSData data = rc.data(); for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data @@ -48,6 +51,10 @@ void normalizeRC() { } void calibrateRC() { + if (rcRxPin < 0) { + print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin); + return; + } uint16_t zero[16]; uint16_t center[16]; uint16_t max[16]; diff --git a/gazebo/SBUS.h b/gazebo/SBUS.h index eb6b2ec..11161d7 100644 --- a/gazebo/SBUS.h +++ b/gazebo/SBUS.h @@ -13,7 +13,7 @@ class SBUS { public: SBUS(HardwareSerial& bus, const bool inv = true) {}; SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {}; - void begin() {}; + void begin(int rxpin = -1, int txpin = -1, bool inv = true, bool fast = false) {}; bool read() { return joystickInit(); }; SBUSData data() { SBUSData data; From d8591ea2a9e0bfa7e4520ef1850f39e5bfc2a86b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 18 Apr 2026 05:23:47 +0300 Subject: [PATCH 054/154] Fix working with parameters in pyflix examples PITCH_P parameter was renamed to CTL_P_P --- tools/example.py | 6 +++--- tools/pyflix/README.md | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/tools/example.py b/tools/example.py index 909d408..e8bbdd1 100755 --- a/tools/example.py +++ b/tools/example.py @@ -23,11 +23,11 @@ print('> imu') print(flix.cli('imu')) print('=== Get parameter...') -pitch_p = flix.get_param('PITCH_P') -print('PITCH_P = ', pitch_p) +pitch_p = flix.get_param('CTL_P_P') +print('CTL_P_P = ', pitch_p) print('=== Set parameter...') -flix.set_param('PITCH_P', pitch_p) +flix.set_param('CTL_P_P', pitch_p) print('=== Wait for gyro update...') print('Gyro: ', flix.wait('gyro')) diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index 4ffb794..6f90eb1 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -117,8 +117,8 @@ Full list of events: Get and set firmware parameters using `get_param` and `set_param` methods: ```python -pitch_p = flix.get_param('PITCH_P') # get parameter value -flix.set_param('PITCH_P', 5) # set parameter value +pitch_p = flix.get_param('CTL_P_P') # get parameter value +flix.set_param('CTL_P_P', 5) # set parameter value ``` Execute console commands using `cli` method. This method returns the command response: From 51cd5fc691ba4d431bb037ab78d71a83b7779168 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 22 Apr 2026 11:35:37 +0300 Subject: [PATCH 055/154] Implement battery voltage monitoring Add power subsystem. Add PWR_VOLT_PIN, PWR_VOLT_SCALE, PWR_VOLT_LPF_A parameters. Support BATTERY_STATUS mavlink messages streaming. Add pw cli command. Add voltage field to pyflix library. pyflix@0.12. --- README.md | 2 ++ docs/usage.md | 9 +++++++++ flix/cli.ino | 4 ++++ flix/flix.ino | 1 + flix/mavlink.ino | 8 ++++++++ flix/parameters.ino | 7 +++++++ flix/power.ino | 21 +++++++++++++++++++++ gazebo/Arduino.h | 1 + gazebo/simulator.cpp | 1 + tools/example.py | 1 + tools/pyflix/README.md | 2 ++ tools/pyflix/flix.py | 7 ++++++- tools/pyproject.toml | 2 +- 13 files changed, 64 insertions(+), 2 deletions(-) create mode 100644 flix/power.ino diff --git a/README.md b/README.md index bf62098..d9907a7 100644 --- a/README.md +++ b/README.md @@ -156,6 +156,8 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir *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.* +* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32S3). + ## Resources * Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. diff --git a/docs/usage.md b/docs/usage.md index 5439b0f..01342a3 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -146,6 +146,15 @@ If using brushless motors and ESCs: > [!CAUTION] > **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them. +### Battery voltage monitoring + +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: + +1. `PWR_VOLT_PIN` — GPIO pin number where the voltage divider is connected (*-1* to disable). +2. `PWR_VOLT_SCALE` — voltage divider coefficient (*2* for two equal resistors). + +After this setup, you should see the battery voltage in QGroundControl top panel or using `pw` command in the console. + ### Important: check everything works 1. Check the IMU is working: perform `imu` command in the console and check the output: diff --git a/flix/cli.ino b/flix/cli.ino index 3250d0e..a6dec83 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -16,6 +16,7 @@ extern float controlTime; extern int mode; extern bool armed; extern LowPassFilter gyroBiasFilter; +extern float voltage; const char* motd = "\nWelcome to\n" @@ -39,6 +40,7 @@ const char* motd = "disarm - disarm the drone\n" "raw/stab/acro/auto - set mode\n" "rc - show RC data\n" +"pw - show power info\n" "wifi - show Wi-Fi info\n" "ap - setup Wi-Fi access point\n" "sta - setup Wi-Fi client mode\n" @@ -135,6 +137,8 @@ void doCommand(String str, bool echo = false) { print("time: %.1f\n", controlTime); print("mode: %s\n", getModeName()); print("armed: %d\n", armed); + } else if (command == "pw") { + print("Voltage: %.1f V\n", voltage); } else if (command == "wifi") { printWiFiInfo(); } else if (command == "ap") { diff --git a/flix/flix.ino b/flix/flix.ino index 422b818..e03b3e3 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -39,6 +39,7 @@ void loop() { sendMotors(); handleInput(); processMavlink(); + readVoltage(); logData(); syncParameters(); } diff --git a/flix/mavlink.ino b/flix/mavlink.ino index 2df74d6..1459872 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -7,6 +7,7 @@ #include "util.h" extern float controlTime; +extern float voltage; int mavlinkSysId = 1; Rate telemetryFast(10); @@ -39,6 +40,13 @@ void sendMavlink() { mavlink_msg_extended_sys_state_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR); sendMessage(&msg); + + uint16_t voltages[] = {voltage * 1000, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX}; + uint16_t voltagesExt[] = {0, 0, 0, 0}; + float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1); + mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL, + MAV_BATTERY_TYPE_LIPO, INT16_MAX, voltages, -1, -1, -1, remaining * 100, 0, MAV_BATTERY_CHARGE_STATE_OK, voltagesExt, 0, 0); + sendMessage(&msg); } if (telemetryFast && mavlinkConnected) { diff --git a/flix/parameters.ino b/flix/parameters.ino index cd4d779..9f81a1d 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -12,6 +12,9 @@ extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, extern int rcRxPin; extern int wifiMode, udpLocalPort, udpRemotePort; extern float rcLossTimeout, descendTime; +extern int voltagePin; +extern float voltageScale; +extern LowPassFilter voltageFilter; Preferences storage; @@ -109,6 +112,10 @@ Parameter parameters[] = { {"MAV_SYS_ID", &mavlinkSysId}, {"MAV_RATE_SLOW", &telemetrySlow.rate}, {"MAV_RATE_FAST", &telemetryFast.rate}, + // power + {"PWR_VOLT_PIN", &voltagePin}, + {"PWR_VOLT_SCALE", &voltageScale}, + {"PWR_VOLT_LPF_A", &voltageFilter.alpha}, // safety {"SF_RC_LOSS_TIME", &rcLossTimeout}, {"SF_DESCEND_TIME", &descendTime}, diff --git a/flix/power.ino b/flix/power.ino new file mode 100644 index 0000000..d5d7304 --- /dev/null +++ b/flix/power.ino @@ -0,0 +1,21 @@ +// Copyright (c) 2026 Oleg Kalachev +// Repository: https://github.com/okalachev/flix + +// Power management + +#include "lpf.h" +#include "util.h" + +float voltage; +LowPassFilter voltageFilter(0.2); +int voltagePin = -1; +float voltageScale = 2; + +void readVoltage() { + if (voltagePin < 0) return; + static Rate rate(10); + if (!rate) return; + + float v = analogReadMilliVolts(voltagePin) * voltageScale / 1000.0f; + voltage = voltageFilter.update(v); +} diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h index ad4bef4..2cbaaf0 100644 --- a/gazebo/Arduino.h +++ b/gazebo/Arduino.h @@ -166,6 +166,7 @@ void delay(uint32_t ms) { bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; } bool ledcWrite(uint8_t pin, uint32_t duty) { return true; } uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; } +uint32_t analogReadMilliVolts(uint8_t pin) { return 0; } unsigned long __micros; unsigned long __resetTime = 0; diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp index b25e717..cf3e9e5 100644 --- a/gazebo/simulator.cpp +++ b/gazebo/simulator.cpp @@ -27,6 +27,7 @@ #include "mavlink.ino" #include "motors.ino" #include "parameters.ino" +#include "power.ino" #include "rc.ino" #include "time.ino" diff --git a/tools/example.py b/tools/example.py index e8bbdd1..0738bda 100755 --- a/tools/example.py +++ b/tools/example.py @@ -10,6 +10,7 @@ print('Connected:', flix.connected) print('Mode:', flix.mode) print('Armed:', flix.armed) print('Landed:', flix.landed) +print('Voltage:', flix.voltage, 'V') print('Rates:', *[f'{math.degrees(r):.0f}°/s' for r in flix.rates]) print('Attitude:', *[f'{math.degrees(a):.0f}°' for a in flix.attitude_euler]) print('Motors:', flix.motors) diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index 6f90eb1..ade6d4a 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -37,6 +37,7 @@ print(flix.connected) # True if connected to the drone print(flix.mode) # current flight mode (str) print(flix.armed) # True if the drone is armed print(flix.landed) # True if the drone is landed +print(flix.voltage) # battery voltage print(flix.attitude) # attitude quaternion [w, x, y, z] print(flix.attitude_euler) # attitude as Euler angles [roll, pitch, yaw] print(flix.rates) # angular rates [roll_rate, pitch_rate, yaw_rate] @@ -95,6 +96,7 @@ 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)*| +|`voltage`|Battery voltage update|Voltage *(float)*| |`print`|The drone prints text to the console|Text| |`attitude`|Attitude update|Attitude quaternion *(list)*| |`attitude_euler`|Attitude update|Euler angles *(list)*| diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py index 757ebfa..fb88e55 100644 --- a/tools/pyflix/flix.py +++ b/tools/pyflix/flix.py @@ -26,6 +26,7 @@ class Flix: mode: str = '' armed: bool = False landed: bool = False + voltage: float = 0 attitude: List[float] attitude_euler: List[float] # roll, pitch, yaw rates: List[float] @@ -68,7 +69,7 @@ class Flix: self._heartbeat_thread.start() if wait_connection: self.wait('mavlink.HEARTBEAT') - time.sleep(0.2) # give some time to receive initial state + time.sleep(0.6) # give some time to receive initial state def _init_state(self): self.attitude = [1, 0, 0, 0] @@ -190,6 +191,10 @@ class Flix: self._trigger('acc', self.acc) self._trigger('gyro', self.gyro) + if isinstance(msg, mavlink.MAVLink_battery_status_message): + self.voltage = msg.voltages[0] / 1000 + self._trigger('voltage', self.voltage) + if isinstance(msg, mavlink.MAVLink_serial_control_message): # new chunk of data text = bytes(msg.data)[:msg.count].decode('utf-8', errors='ignore') diff --git a/tools/pyproject.toml b/tools/pyproject.toml index 5ec9593..3b8f3c6 100644 --- a/tools/pyproject.toml +++ b/tools/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyflix" -version = "0.11" +version = "0.12" description = "Python API for Flix drone" authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] license = "MIT" From ed4e2d87d11e6d637eaf466e38748a2223d52b9e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 23 Apr 2026 07:12:25 +0300 Subject: [PATCH 056/154] Fix imu command output Gyro field contained filtered gyro instead of scaled only gyro. --- flix/imu.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/imu.ino b/flix/imu.ino index ffdc1ff..e2bc5d0 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -121,7 +121,7 @@ void printIMUInfo() { print("model: %s\n", imu.getModel()); print("who am I: 0x%02X\n", imu.whoAmI()); print("rate: %.0f\n", loopRate); - print("gyro: %f %f %f\n", rates.x, rates.y, rates.z); + print("gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z); print("acc: %f %f %f\n", acc.x, acc.y, acc.z); imu.waitForData(); Vector rawGyro, rawAcc; From 835b2243e8ec18b0d3ac1a465f3055bd2d8edbb8 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 23 Apr 2026 07:25:59 +0300 Subject: [PATCH 057/154] Minor fix in sys command String works with printf %s, but actually it's a UB. --- flix/cli.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/cli.ino b/flix/cli.ino index a6dec83..de6c60c 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -178,7 +178,7 @@ void doCommand(String str, bool echo = false) { String core = systemState[i].xCoreID == tskNO_AFFINITY ? "*" : String(systemState[i].xCoreID); int cpuPercentage = systemState[i].ulRunTimeCounter / (totalRunTime / 100); print("%-5d%-20s%-7d%-6d%-6s%d\n",systemState[i].xTaskNumber, systemState[i].pcTaskName, - systemState[i].usStackHighWaterMark, systemState[i].uxCurrentPriority, core, cpuPercentage); + systemState[i].usStackHighWaterMark, systemState[i].uxCurrentPriority, core.c_str(), cpuPercentage); } delete[] systemState; #endif From 6e439859bc787c6ba355e966eb49863b3c89c517 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 23 Apr 2026 15:06:07 +0300 Subject: [PATCH 058/154] Move disabling brown-out code to power subsystem --- flix/flix.ino | 2 +- flix/power.ino | 7 +++++++ flix/util.h | 7 ------- gazebo/soc/soc.h | 1 - 4 files changed, 8 insertions(+), 9 deletions(-) diff --git a/flix/flix.ino b/flix/flix.ino index e03b3e3..16b62aa 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -18,8 +18,8 @@ extern float motors[4]; void setup() { Serial.begin(115200); print("Initializing flix\n"); - disableBrownOut(); setupParameters(); + setupPower(); setupLED(); setLED(true); setupMotors(); diff --git a/flix/power.ino b/flix/power.ino index d5d7304..b9e07f0 100644 --- a/flix/power.ino +++ b/flix/power.ino @@ -3,6 +3,8 @@ // Power management +#include +#include #include "lpf.h" #include "util.h" @@ -11,6 +13,11 @@ LowPassFilter voltageFilter(0.2); int voltagePin = -1; float voltageScale = 2; +void setupPower() { + // Disable reset on low voltage + REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); +} + void readVoltage() { if (voltagePin < 0) return; static Rate rate(10); diff --git a/flix/util.h b/flix/util.h index 025cd5e..ffb57b3 100644 --- a/flix/util.h +++ b/flix/util.h @@ -6,8 +6,6 @@ #pragma once #include -#include -#include const float ONE_G = 9.80665; extern float t; @@ -35,11 +33,6 @@ float wrapAngle(float angle) { return angle; } -// Disable reset on low voltage -void disableBrownOut() { - REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); -} - // Trim and split string by spaces void splitString(String& str, String& token0, String& token1, String& token2) { str.trim(); diff --git a/gazebo/soc/soc.h b/gazebo/soc/soc.h index 2d3f1e2..f9817f6 100644 --- a/gazebo/soc/soc.h +++ b/gazebo/soc/soc.h @@ -1,4 +1,3 @@ // Dummy file to make it possible to compile simulator with Flix' util.h -#define WRITE_PERI_REG(addr, val) {} #define REG_CLR_BIT(_r, _b) {} From 350a82bfed0970aa76c7b2cb5018774df843c03b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 23 Apr 2026 15:34:54 +0300 Subject: [PATCH 059/154] Minor fix --- flix/control.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/control.ino b/flix/control.ino index 50601cb..1c1a8b7 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -67,7 +67,7 @@ void control() { void interpretControls() { if (controlMode < 0.25) mode = flightModes[0]; - else if (controlMode < 0.75) mode = flightModes[1]; + else if (controlMode <= 0.75) mode = flightModes[1]; else if (controlMode > 0.75) mode = flightModes[2]; if (mode == AUTO) return; // pilot is not effective in AUTO mode From d6a79d6c6621c431c64f2b301dd4ca111963de29 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 24 Apr 2026 07:42:39 +0300 Subject: [PATCH 060/154] Pass acc data in mG in SCALED_IMU to comply with mavlink standard https://mavlink.io/en/messages/common.html#SCALED_IMU pyflix@0.13 --- flix/mavlink.ino | 2 +- tools/pyflix/flix.py | 3 ++- tools/pyproject.toml | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index 1459872..feaef8d 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -65,7 +65,7 @@ void sendMavlink() { sendMessage(&msg); mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, - acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd + acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000, 0, 0, 0, 0); sendMessage(&msg); diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py index fb88e55..211b5df 100644 --- a/tools/pyflix/flix.py +++ b/tools/pyflix/flix.py @@ -186,7 +186,8 @@ class Flix: self._trigger('motors', self.motors) if isinstance(msg, mavlink.MAVLink_scaled_imu_message): - self.acc = self._mavlink_to_flu([msg.xacc / 1000, msg.yacc / 1000, msg.zacc / 1000]) + ONE_G = 9.80665 + self.acc = self._mavlink_to_flu([msg.xacc * ONE_G / 1000, msg.yacc * ONE_G / 1000, msg.zacc * ONE_G / 1000]) self.gyro = self._mavlink_to_flu([msg.xgyro / 1000, msg.ygyro / 1000, msg.zgyro / 1000]) self._trigger('acc', self.acc) self._trigger('gyro', self.gyro) diff --git a/tools/pyproject.toml b/tools/pyproject.toml index 3b8f3c6..1d9ba3a 100644 --- a/tools/pyproject.toml +++ b/tools/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyflix" -version = "0.12" +version = "0.13" description = "Python API for Flix drone" authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] license = "MIT" From 9bffe5b52f214e45ca197ab5e0dc5300f05c7fde Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 26 Apr 2026 06:05:02 +0300 Subject: [PATCH 061/154] Some fixes in docs --- README.md | 6 ++++-- tools/pyflix/README.md | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index d9907a7..42425a1 100644 --- a/README.md +++ b/README.md @@ -77,7 +77,7 @@ Additional articles: |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| +|Pull-down resistor
Voltage measurement resistor|10 kΩ||6| |3.7V Li-Po battery|LW 952540 (or any compatible by the size)||1| |Battery connector cable|MX2.0 2P female||1| |Li-Po Battery charger|Any||1| @@ -154,10 +154,12 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir |VIN|VCC (or 3.3V depending on the receiver)| |Signal (TX)|GPIO4¹| -*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.* + *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.* * Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32S3). + ESP32 and ESP32S3 [can measure](https://docs.espressif.com/projects/arduino-esp32/en/latest/api/adc.html#analogsetattenuation) up to 3.1 V and ESP32S3/ESP32C3 can measure up to 2.5 V, so choose the voltage divider resistors accordingly. + ## Resources * Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index ade6d4a..583d510 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -30,7 +30,7 @@ flix = Flix() # create a Flix object and wait for connection ### Telemetry -Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware itself: +Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware code: ```python print(flix.connected) # True if connected to the drone From 485a39e7408370f164e48a068bd058cdf2e777a1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 27 Apr 2026 16:46:36 +0300 Subject: [PATCH 062/154] Disable wi-fi power save to improve responsiveness --- flix/wifi.ino | 1 + 1 file changed, 1 insertion(+) diff --git a/flix/wifi.ino b/flix/wifi.ino index 6814dbe..8386d89 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -25,6 +25,7 @@ void setupWiFi() { } else if (wifiMode == W_STA) { WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str()); } + WiFi.setSleep(false); // disable power save udp.begin(udpLocalPort); } From 2ccda03573e6afb6ed200017b2b1ca05cb82d5ed Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 28 Apr 2026 13:23:42 +0300 Subject: [PATCH 063/154] Implement motors output desaturation So the drone continues stabilization on max thrust. --- flix/control.ino | 13 +++++++++++++ gazebo/Arduino.h | 2 ++ gazebo/flix.h | 1 + 3 files changed, 16 insertions(+) diff --git a/flix/control.ino b/flix/control.ino index 1c1a8b7..aa7edb6 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -149,12 +149,25 @@ void controlTorque() { motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z; motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z; + desaturate(motors[MOTOR_FRONT_LEFT], motors[MOTOR_FRONT_RIGHT], motors[MOTOR_REAR_LEFT], motors[MOTOR_REAR_RIGHT]); + motors[0] = constrain(motors[0], 0, 1); motors[1] = constrain(motors[1], 0, 1); motors[2] = constrain(motors[2], 0, 1); motors[3] = constrain(motors[3], 0, 1); } +void desaturate(float& a, float& b, float& c, float& d) { + float maxThrust = max(max(a, b), max(c, d)); + if (maxThrust > 1) { + float diff = maxThrust - 1; + a -= diff; + b -= diff; + c -= diff; + d -= diff; + } +} + const char* getModeName() { switch (mode) { case RAW: return "RAW"; diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h index 2cbaaf0..d0512a1 100644 --- a/gazebo/Arduino.h +++ b/gazebo/Arduino.h @@ -21,6 +21,8 @@ #define degrees(rad) ((rad)*RAD_TO_DEG) #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) +template T max(T a, T b) { return a > b ? a : b; } +template T min(T a, T b) { return a < b ? a : b; } long map(long x, long in_min, long in_max, long out_min, long out_max) { const long run = in_max - in_min; diff --git a/gazebo/flix.h b/gazebo/flix.h index 96a3aad..899245f 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -32,6 +32,7 @@ void interpretControls(); void controlAttitude(); void controlRates(); void controlTorque(); +void desaturate(float& a, float& b, float& c, float& d); const char* getModeName(); void sendMotors(); int getDutyCycle(float value); From 35ca754583df756c87a238aa8842209a2dd0cd87 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 28 Apr 2026 15:38:52 +0300 Subject: [PATCH 064/154] Fix Vector::rotationVectorBetween implementation for parallel vectors --- flix/vector.h | 19 ++++++++++++++++--- 1 file changed, 16 insertions(+), 3 deletions(-) diff --git a/flix/vector.h b/flix/vector.h index efc3be0..74293fa 100644 --- a/flix/vector.h +++ b/flix/vector.h @@ -105,10 +105,23 @@ public: } static Vector rotationVectorBetween(const Vector& a, const Vector& b) { + float an = a.norm(); + float bn = b.norm(); + if (an < 1e-6 || bn < 1e-6) { + return Vector(0, 0, 0); + } Vector direction = cross(a, b); - if (direction.zero()) { - // vectors are opposite, return any perpendicular vector - return cross(a, Vector(1, 0, 0)); + if (direction.norm() < 1e-6) { // vectors are parallel + if (dot(a, b) > 0) { // same direction + return Vector(0, 0, 0); + } + // opposite direction + Vector perp = cross(a, Vector(1, 0, 0)); + if (perp.norm() < 1e-6) { + perp = cross(a, Vector(0, 1, 0)); + } + perp.normalize(); + return perp * PI; } direction.normalize(); float angle = angleBetween(a, b); From c6632ae6e4ba1776a3a479deef84d0397be0756c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 28 Apr 2026 20:43:52 +0300 Subject: [PATCH 065/154] Add info on setting flight modes using rc mode switch --- docs/usage.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/usage.md b/docs/usage.md index 01342a3..974f851 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -245,7 +245,7 @@ When finished flying, **disarm** the drone, moving the left stick to the bottom ### Flight modes -Flight mode is changed using mode switch on the remote control (if configured) or using the console commands. The main flight mode is *STAB*. +Flight mode is changed using mode switch on the remote control (if configured) or using the console commands. The main flight mode is *STAB*. In order to change modes using SBUS remote control, set the parameters: `CTL_FLT_MODE_0`, `CTL_FLT_MODE_1`, and `CTL_FLT_MODE_2` to required mode numbers (0 for *RAW*, 1 for *ACRO*, 2 for *STAB*, 3 for *AUTO*). #### STAB From 28da2d3c8ed268c56f327f3fa03461ba14cb1abe Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 28 Apr 2026 20:46:49 +0300 Subject: [PATCH 066/154] Fix in pyflix documentation pyflix@0.14 --- tools/pyflix/README.md | 2 +- tools/pyproject.toml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index 583d510..702e39d 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -24,7 +24,7 @@ pip install pyflix The API is accessed through the `Flix` class: ```python -from flix import Flix +from pyflix import Flix flix = Flix() # create a Flix object and wait for connection ``` diff --git a/tools/pyproject.toml b/tools/pyproject.toml index 1d9ba3a..0ac51a0 100644 --- a/tools/pyproject.toml +++ b/tools/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyflix" -version = "0.13" +version = "0.14" description = "Python API for Flix drone" authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] license = "MIT" From 9ca68415589a0a0a9c97c72f609fd5d40c834ed4 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 29 Apr 2026 15:07:44 +0300 Subject: [PATCH 067/154] Exit auto mode when sticks moved only when mode switch is not configured --- docs/usage.md | 2 +- flix/safety.ino | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 974f851..18493e8 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -266,7 +266,7 @@ In this mode, the pilot controls the angular rates. This control method is diffi In this mode, the pilot inputs are ignored (except the mode switch). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed behavior. -If the pilot moves the control sticks, the drone will switch back to *STAB* mode. +If the pilot moves the control sticks and mode switch is not configured, the drone will switch back to *STAB* mode. ## Wi-Fi configuration diff --git a/flix/safety.ino b/flix/safety.ino index 1d67010..05fd758 100644 --- a/flix/safety.ino +++ b/flix/safety.ino @@ -37,8 +37,8 @@ void descend() { void autoFailsafe() { static float roll, pitch, yaw, throttle; if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) { - // controls changed - if (mode == AUTO) mode = STAB; // regain control by the pilot + // controls changed and mode switch is not configured + if (mode == AUTO && invalid(controlMode)) mode = STAB; // regain control by the pilot } roll = controlRoll; pitch = controlPitch; From 08683d696d664e563052152688c7f621d8ce5661 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 1 May 2026 15:26:59 +0300 Subject: [PATCH 068/154] Some updates in the usage doc --- docs/usage.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docs/usage.md b/docs/usage.md index 18493e8..723f8dc 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -112,7 +112,7 @@ You can also work with parameters using `p` command in the console. Parameter na ### 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 IMU orientation (relative to the drone's axes) is defined using the parameters: `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: @@ -138,6 +138,8 @@ Before flight you need to calibrate the accelerometer: If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively). +Certain ESP32 models (such as ESP32-S3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 40000 Hz. + If using brushless motors and ESCs: 1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical). From dbf24ea61173cdbb67ee0c686d2b74dc6bc9af78 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 3 May 2026 15:04:16 +0300 Subject: [PATCH 069/154] Expose lpf alpha of rate pids to parameters Add parameters: CTL_R_RATE_D_A, CTL_P_RATE_D_A, CTL_Y_RATE_D_A. --- flix/parameters.ino | 3 +++ 1 file changed, 3 insertions(+) diff --git a/flix/parameters.ino b/flix/parameters.ino index 9f81a1d..3117a53 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -36,13 +36,16 @@ Parameter parameters[] = { {"CTL_R_RATE_I", &rollRatePID.i}, {"CTL_R_RATE_D", &rollRatePID.d}, {"CTL_R_RATE_WU", &rollRatePID.windup}, + {"CTL_R_RATE_D_A", &rollRatePID.lpf.alpha}, {"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_P_RATE_D_A", &pitchRatePID.lpf.alpha}, {"CTL_Y_RATE_P", &yawRatePID.p}, {"CTL_Y_RATE_I", &yawRatePID.i}, {"CTL_Y_RATE_D", &yawRatePID.d}, + {"CTL_Y_RATE_D_A", &yawRatePID.lpf.alpha}, {"CTL_R_P", &rollPID.p}, {"CTL_R_I", &rollPID.i}, {"CTL_R_D", &rollPID.d}, From bd270db4930edab68ea618fd7bf7610c8af2755e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 5 May 2026 21:27:47 +0300 Subject: [PATCH 070/154] Reduce angle drift by adding level correction to the estimator Leverage a priori knowledge that the drone's average attitude is level. Explanation: https://t.me/opensourcequadcopter/158. --- flix/estimate.ino | 11 +++++++++++ flix/parameters.ino | 1 + gazebo/flix.h | 1 + 3 files changed, 13 insertions(+) diff --git a/flix/estimate.ino b/flix/estimate.ino index e07bd07..e66cf38 100644 --- a/flix/estimate.ino +++ b/flix/estimate.ino @@ -13,11 +13,13 @@ Quaternion attitude; // estimated attitude bool landed; float accWeight = 0.003; +float levelWeight = 0.0002; LowPassFilter ratesFilter(0.2); // cutoff frequency ~ 40 Hz void estimate() { applyGyro(); applyAcc(); + applyLevel(); } void applyGyro() { @@ -42,3 +44,12 @@ void applyAcc() { // apply correction attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction)); } + +void applyLevel() { + if (landed) return; + + // assume the pilot keeps the drone more or less level in flight + Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude); + Vector correction = Vector::rotationVectorBetween(Vector(0, 0, 1), up) * levelWeight; + attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction)); +} diff --git a/flix/parameters.ino b/flix/parameters.ino index 3117a53..4fc0063 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -73,6 +73,7 @@ Parameter parameters[] = { {"IMU_GYRO_BIAS_A", &gyroBiasFilter.alpha}, // estimate {"EST_ACC_WEIGHT", &accWeight}, + {"EST_LVL_WEIGHT", &levelWeight}, {"EST_RATES_LPF_A", &ratesFilter.alpha}, // motors {"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors}, diff --git a/gazebo/flix.h b/gazebo/flix.h index 899245f..ddac951 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -27,6 +27,7 @@ void step(); void computeLoopRate(); void applyGyro(); void applyAcc(); +void applyLevel(); void control(); void interpretControls(); void controlAttitude(); From 5f1a938d4f1cbc35ba5b3ebdbcb9d47405b19164 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 May 2026 19:54:16 +0300 Subject: [PATCH 071/154] Fix imu rotation definition The X axis should be pointing to the 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100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -114,7 +114,7 @@ You can also work with parameters using `p` command in the console. Parameter na The IMU orientation (relative to the drone's axes) is defined using the parameters: `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: +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 mounting holes side and *Z* axis pointing up from the component side: @@ -122,10 +122,10 @@ 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| +||`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 diff --git a/flix/imu.ino b/flix/imu.ino index e2bc5d0..136412e 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -10,7 +10,7 @@ #include "util.h" MPU9250 imu(SPI); -Vector imuRotation(0, 0, -PI / 2); // imu orientation as Euler angles +Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles Vector gyro; // gyroscope output, rad/s Vector gyroBias; From e81e84e7fc00763a73707ac6358c54c00bf13aa1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 May 2026 20:15:55 +0300 Subject: [PATCH 072/154] Some updates to docs --- README.md | 6 +++--- docs/assembly.md | 2 ++ 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 42425a1..281eee3 100644 --- a/README.md +++ b/README.md @@ -53,7 +53,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code: Flix simulator -## Documentation +## Documentation articles 1. [Assembly instructions](docs/assembly.md). 2. [Usage: build, setup and flight](docs/usage.md). @@ -75,10 +75,10 @@ Additional articles: |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| +|Propeller|55 mm or 65 mm||4| |MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)||4| |Pull-down resistor
Voltage measurement resistor|10 kΩ||6| -|3.7V Li-Po battery|LW 952540 (or any compatible by the size)||1| +|3.7V Li-Po battery|LW 952540 (or any compatible by the size).
Make sure the battery has enough discharge rate — 25C or more!||1| |Battery connector cable|MX2.0 2P female||1| |Li-Po Battery charger|Any||1| |Screws for IMU board mounting|M3x5||2| diff --git a/docs/assembly.md b/docs/assembly.md index b23c113..a332272 100644 --- a/docs/assembly.md +++ b/docs/assembly.md @@ -28,6 +28,8 @@ Soldered components ([schematics variant](https://miro.com/app/board/uXjVN-dTjoo +See an alternative assembly process photos here: https://drive.google.com/drive/folders/1FG5BH9RCzdf1XmJcC70PymiRMXcz6Fx7?usp=sharing. + ## Motor directions > [!WARNING] From 68271c508c6709463231fa98566f548561cdb91f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 8 May 2026 00:31:51 +0300 Subject: [PATCH 073/154] Print firmware build date and time in sys command --- flix/cli.ino | 1 + 1 file changed, 1 insertion(+) diff --git a/flix/cli.ino b/flix/cli.ino index de6c60c..05fe016 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -168,6 +168,7 @@ void doCommand(String str, bool echo = false) { print("Chip: %s\n", ESP.getChipModel()); print("Temperature: %.1f °C\n", temperatureRead()); print("Free heap: %d\n", ESP.getFreeHeap()); + print("Firmware: " __DATE__ " " __TIME__ "\n"); // Print tasks table print("Num Task Stack Prio Core CPU%%\n"); int taskCount = uxTaskGetNumberOfTasks(); From 87480476c2c0ce2d05a003c4d30e7ea7596dc07a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 8 May 2026 00:47:29 +0300 Subject: [PATCH 074/154] Fix motors pwm frequency for esp32s3 etc in the docs --- docs/usage.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/usage.md b/docs/usage.md index 48f73c5..fe5fd95 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -138,7 +138,7 @@ Before flight you need to calibrate the accelerometer: If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively). -Certain ESP32 models (such as ESP32-S3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 40000 Hz. +Certain ESP32 models (such as ESP32-S3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz. If using brushless motors and ESCs: From 06e20470978c2ba1ac92a8729809f16cdf967ff6 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 8 May 2026 00:53:19 +0300 Subject: [PATCH 075/154] Make motor testing signal 0.2 instead of full power Testing with full power is too dangerous and inconvenient. --- flix/motors.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/motors.ino b/flix/motors.ino index 42cb0c5..3289755 100644 --- a/flix/motors.ino +++ b/flix/motors.ino @@ -54,7 +54,7 @@ bool motorsActive() { void testMotor(int n) { print("Testing motor %d\n", n); - motors[n] = 1; + motors[n] = 0.2; delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306 sendMotors(); pause(3); From 702ec9792e042b97ca487858c5b52d5259ae31eb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 9 May 2026 15:57:25 +0300 Subject: [PATCH 076/154] Some updates in troubleshooting article --- docs/troubleshooting.md | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index c3a8e8a..8f06718 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -12,20 +12,25 @@ Do the following: Do the following: -* **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V. +* **Check the battery voltage**. Use a multimeter to measure the battery voltage. The fully charged battery should have about 4.2V. +* **Check the battery you use has enough discharge current**. The battery should be able to provide 15A of current. So the C-rating for a 1000 mAh battery should be at least 15C (higher is better). * **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button or `reboot` command to see the whole startup output. * **Check the baudrate is correct**. If you see garbage characters in the Serial Monitor, make sure the baudrate is set to 115200. -* **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file. * **Check if the console is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the console using QGroundControl *(Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console)*. * **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**. * **If QGroundControl doesn't connect**, you might need to disable the firewall and/or VPN on your computer. +* **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file. * **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. -* **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, set the correct IMU orientation as described in the [tutorial](usage.md#define-imu-orientation). +* **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 is shown exactly as on the video below: + +
+ +* **Check the IMU output**. 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. * **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). @@ -33,9 +38,10 @@ Do the following: * `mrl` — should rotate rear left motor (counter-clockwise). * `mrr` — should rotate rear right motor (clockwise). * **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**: + +* **If using an SBUS receiver**: * **Define the used GPIO pin** in `RC_RX_PIN` parameter. * **Calibrate the RC** using `cr` command in the console. -* **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. + * **Check the controls** using `rc` command. All the controls should change between -1 and 1, and the throttle between 0 and 1. From 8c8046676b16b96f732fff15f336b990cdbc34e9 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 9 May 2026 17:14:29 +0300 Subject: [PATCH 077/154] Simplify port definition in Makefile --- Makefile | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Makefile b/Makefile index 2584560..5dfc9e6 100644 --- a/Makefile +++ b/Makefile @@ -1,6 +1,5 @@ BOARD = esp32:esp32:d1_mini32 -PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*) -PORT := $(strip $(PORT)) +PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*)) build: .dependencies arduino-cli compile --fqbn $(BOARD) flix From 7dfef171653ab2cb6bd5a9229cc23a442740c0c3 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 9 May 2026 17:49:59 +0300 Subject: [PATCH 078/154] Add Ina Tix' build Co-authored-by: Marina Tikhomirova --- 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Publish your pro --- +Author: [Ina Tix](https://t.me/ina_tix).
+Description: XR2981 based DC-DC converter, ELRS MINI 2.4GHz RX SX1280 receiver (SBUS interface), Radiomaster TX12 remote control.
+[Flight validation](https://drive.google.com/file/d/1yqkKNuz4R_yxGqUNQxVpixJbXqEEcUSj/view?usp=share_link). + + + +--- + Author: [FanBy0ru](https://https://github.com/FanBy0ru).
Description: custom 3D-printed frame.
Frame STLs and flight validation: https://cults3d.com/en/3d-model/gadget/armature-pour-flix-drone. From b62f2f9427bf7b03773fae29144c1ee36c555677 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 9 May 2026 17:55:55 +0300 Subject: [PATCH 079/154] Rename some wifi parameters for better alphabetical sort --- flix/parameters.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flix/parameters.ino b/flix/parameters.ino index 4fc0063..54e466a 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -110,8 +110,8 @@ Parameter parameters[] = { {"RC_MODE", &modeChannel}, // wifi {"WIFI_MODE", &wifiMode}, - {"WIFI_LOC_PORT", &udpLocalPort}, - {"WIFI_REM_PORT", &udpRemotePort}, + {"WIFI_PORT_LOC", &udpLocalPort}, + {"WIFI_PORT_REM", &udpRemotePort}, // mavlink {"MAV_SYS_ID", &mavlinkSysId}, {"MAV_RATE_SLOW", &telemetrySlow.rate}, From 34c69938428c1360d5299ec8b77ca1b575b3b611 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 10 May 2026 02:33:03 +0300 Subject: [PATCH 080/154] Some fixes in the docs --- README.md | 12 +++++------- docs/usage.md | 2 +- 2 files changed, 6 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index 281eee3..6501da5 100644 --- a/README.md +++ b/README.md @@ -72,7 +72,7 @@ Additional articles: |Type|Part|Image|Quantity| |-|-|:-:|:-:| |Microcontroller board|ESP32 Mini||1| -|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| +|IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)
ICM20948V2 (ICM‑20948)
GY-521 (MPU-6050)|

|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 or 65 mm||4| @@ -152,18 +152,16 @@ You can see a user-contributed [variant of complete circuit diagram](https://mir |-|-| |GND|GND| |VIN|VCC (or 3.3V depending on the receiver)| - |Signal (TX)|GPIO4¹| + |Signal (TX)|GPIO4| - *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.* +* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32-S3). -* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32S3). - - ESP32 and ESP32S3 [can measure](https://docs.espressif.com/projects/arduino-esp32/en/latest/api/adc.html#analogsetattenuation) up to 3.1 V and ESP32S3/ESP32C3 can measure up to 2.5 V, so choose the voltage divider resistors accordingly. + ESP32 and ESP32-S3 [can measure](https://docs.espressif.com/projects/arduino-esp32/en/latest/api/adc.html#analogsetattenuation) up to 3.1 V and ESP32-S3/ESP32-C3 can measure up to 2.5 V, so choose the voltage divider resistors accordingly. ## Resources * Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. -* Official Telegram chat: https://t.me/opensourcequadcopterchat. +* Official Telegram chat: https://t.me/opensourcequadcopterchat (English / Russian). * Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/. ## Disclaimer diff --git a/docs/usage.md b/docs/usage.md index fe5fd95..91034c7 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -170,7 +170,7 @@ After this setup, you should see the battery voltage in QGroundControl top panel 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. Compare your attitude indicator (in the *large vertical* mode) to the video: - + 3. Perform motor tests. Use the following commands **— remove the propellers before running the tests!** From ee3c6999ab6479f819a83895de0f5472cf4870b6 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 10 May 2026 14:50:27 +0300 Subject: [PATCH 081/154] Add mavlink joystick app usage to the docs --- docs/usage.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/docs/usage.md b/docs/usage.md index 91034c7..e610bde 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -192,6 +192,18 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F ### Control with a smartphone +#### Using Mavlink Joystick app (Android) + + + +1. Download and install [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest). +2. Power the drone using the battery. +3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`). +4. Open Mavlink Joystick app. It should connect and begin showing the drone's telemetry automatically. +5. Use the virtual joystick to fly the drone! + +#### Using QGroundControl app + 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. 3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`). From 1f48e379e39dafef26b0495c2c650538fd70161b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 10 May 2026 19:05:27 +0300 Subject: [PATCH 082/154] Improve the rc calibration code More convenient steps order. Improve the readability a bit. --- flix/rc.ino | 20 ++++++++++---------- gazebo/flix.h | 2 +- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/flix/rc.ino b/flix/rc.ino index 175e5ff..8dfdadd 100644 --- a/flix/rc.ino +++ b/flix/rc.ino @@ -55,18 +55,18 @@ void calibrateRC() { print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin); return; } - uint16_t zero[16]; - uint16_t center[16]; - uint16_t max[16]; + uint16_t zero[16]; // for zero positions + uint16_t center[16]; // for center positions + uint16_t _[16]; // for unused data print("1/8 Calibrating RC: put all switches to default positions [3 sec]\n"); pause(3); - calibrateRCChannel(NULL, zero, zero, "2/8 Move sticks [3 sec]\n... ...\n... .o.\n.o. ...\n"); - calibrateRCChannel(NULL, center, center, "3/8 Move sticks [3 sec]\n... ...\n.o. .o.\n... ...\n"); - calibrateRCChannel(&throttleChannel, zero, max, "4/8 Move sticks [3 sec]\n.o. ...\n... .o.\n... ...\n"); - calibrateRCChannel(&yawChannel, center, max, "5/8 Move sticks [3 sec]\n... ...\n..o .o.\n... ...\n"); - calibrateRCChannel(&pitchChannel, zero, max, "6/8 Move sticks [3 sec]\n... .o.\n... ...\n.o. ...\n"); - calibrateRCChannel(&rollChannel, zero, max, "7/8 Move sticks [3 sec]\n... ...\n... ..o\n.o. ...\n"); - calibrateRCChannel(&modeChannel, zero, max, "8/8 Put mode switch to max [3 sec]\n"); + calibrateRCChannel(NULL, _, zero, "2/8 Move sticks [3 sec]\n... ...\n... .o.\n.o. ...\n"); + calibrateRCChannel(&throttleChannel, zero, _, "3/8 Move sticks [3 sec]\n.o. ...\n... .o.\n... ...\n"); + calibrateRCChannel(NULL, _, center, "4/8 Move sticks [3 sec]\n... ...\n.o. .o.\n... ...\n"); + calibrateRCChannel(&yawChannel, center, _, "5/8 Move sticks [3 sec]\n... ...\n..o .o.\n... ...\n"); + calibrateRCChannel(&pitchChannel, zero, _, "6/8 Move sticks [3 sec]\n... .o.\n... ...\n.o. ...\n"); + calibrateRCChannel(&rollChannel, zero, _, "7/8 Move sticks [3 sec]\n... ...\n... ..o\n.o. ...\n"); + calibrateRCChannel(&modeChannel, zero, _, "8/8 Put mode switch to max [3 sec]\n"); printRCCalibration(); } diff --git a/gazebo/flix.h b/gazebo/flix.h index ddac951..53163e5 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -45,7 +45,7 @@ void doCommand(String str, bool echo); void handleInput(); void normalizeRC(); void calibrateRC(); -void calibrateRCChannel(int *channel, uint16_t zero[16], uint16_t max[16], const char *str); +void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*); void printRCCalibration(); void printLogHeader(); void printLogData(); From 35e94f6ea6c8c5116194f4256ef9c2ef23e77f74 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 10 May 2026 21:07:20 +0300 Subject: [PATCH 083/154] Support ESP32-C3 User Serial1 for rc instead of Serial2, as ESP32-C3 has only 2 Serials. Add CI build for ESP32-C3. --- .github/workflows/build.yml | 2 ++ README.md | 2 +- flix/rc.ino | 2 +- gazebo/Arduino.h | 2 +- 4 files changed, 5 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 3bb9234..cd50ee2 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -23,6 +23,8 @@ jobs: with: name: firmware-binary path: flix/build + - name: Build firmware for ESP32-C3 + run: make BOARD=esp32:esp32:esp32c3 - name: Build firmware for ESP32-S3 run: make BOARD=esp32:esp32:esp32s3 - name: Check c_cpp_properties.json diff --git a/README.md b/README.md index 6501da5..649c559 100644 --- a/README.md +++ b/README.md @@ -71,7 +71,7 @@ Additional articles: |Type|Part|Image|Quantity| |-|-|:-:|:-:| -|Microcontroller board|ESP32 Mini||1| +|Microcontroller board|ESP32 Mini.
ESP32-S3/ESP32-C3 boards are also supported.||1| |IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)
ICM20948V2 (ICM‑20948)
GY-521 (MPU-6050)|

|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| diff --git a/flix/rc.ino b/flix/rc.ino index 8dfdadd..7433c72 100644 --- a/flix/rc.ino +++ b/flix/rc.ino @@ -6,7 +6,7 @@ #include #include "util.h" -SBUS rc(Serial2); +SBUS rc(Serial1); int rcRxPin = -1; // -1 means disabled uint16_t channels[16]; // raw rc channels diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h index d0512a1..52c849b 100644 --- a/gazebo/Arduino.h +++ b/gazebo/Arduino.h @@ -151,7 +151,7 @@ public: void setRxInvert(bool invert) {}; }; -HardwareSerial Serial, Serial2; +HardwareSerial Serial, Serial1, Serial2; class EspClass { public: From 48c33c705022861a8935f438cd45c3c9ac0e87f5 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 10 May 2026 22:39:34 +0300 Subject: [PATCH 084/154] Fix and improve wifi subsystem Fix a fault when wifi is disabled (udp can't be used without wifi). Print RSSI and channel in wifi command. --- flix/wifi.ino | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/flix/wifi.ino b/flix/wifi.ino index 8386d89..c0aa119 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -24,6 +24,8 @@ void setupWiFi() { WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str()); } else if (wifiMode == W_STA) { WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str()); + } else { + return; } WiFi.setSleep(false); // disable power save udp.begin(udpLocalPort); @@ -37,6 +39,7 @@ void sendWiFi(const uint8_t *buf, int len) { } int receiveWiFi(uint8_t *buf, int len) { + if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return 0; udp.parsePacket(); if (udp.remoteIP()) udpRemoteIP = udp.remoteIP(); return udp.read(buf, len); @@ -57,10 +60,12 @@ void printWiFiInfo() { print("SSID: %s\n", WiFi.SSID().c_str()); print("Password: ***\n"); print("IP: %s\n", WiFi.localIP().toString().c_str()); + print("RSSI: %d dBm\n", WiFi.RSSI()); } else { print("Mode: Disabled\n"); return; } + print("Channel: %d\n", WiFi.channel()); print("Remote IP: %s\n", udpRemoteIP.toString().c_str()); print("MAVLink connected: %d\n", mavlinkConnected); } From dd176180a7a194e810c61362753a8b29bb2f7473 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 12 May 2026 17:50:28 +0300 Subject: [PATCH 085/154] Update help message Remove 'welcome to', add copyright and repo link. --- flix/cli.ino | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/flix/cli.ino b/flix/cli.ino index 05fe016..6be66c0 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -19,13 +19,14 @@ extern LowPassFilter gyroBiasFilter; extern float voltage; const char* motd = -"\nWelcome to\n" " _______ __ __ ___ ___\n" "| ____|| | | | \\ \\ / /\n" "| |__ | | | | \\ V /\n" "| __| | | | | > <\n" "| | | `----.| | / . \\\n" "|__| |_______||__| /__/ \\__\\\n\n" +"(C) Oleg Kalachev\n" +"https://github.com/okalachev/flix\n\n" "Commands:\n\n" "help - show help\n" "p - show all parameters\n" From 76af83fc88be94dededb4145c0aa6e142d47850e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 13 May 2026 00:35:43 +0300 Subject: [PATCH 086/154] Improve firmware overview article --- docs/firmware.md | 29 +++++++++++++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/docs/firmware.md b/docs/firmware.md index 016f464..9c3b8d2 100644 --- a/docs/firmware.md +++ b/docs/firmware.md @@ -67,6 +67,35 @@ In order to add a console command, modify the `doCommand()` function in `cli.ino > > 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. +### Parameter subsystem + +Parameters subsystem (`parameters.ino`) uses standard [Preferences.h](https://docs.espressif.com/projects/arduino-esp32/en/latest/tutorials/preferences.html) ESP32 library to store parameters in non-volatile memory. Each parameter is a regular global variable, which is registered in the `parameters` array. + +To add a new parameter: + +1. Define a global variable for the parameter, two types are supported: `float` and `int`. +2. Add an entry to the `parameters` array, with the parameter name, a pointer to the variable, and optionally a callback function to call when the parameter is changed. +3. Everything else will be handled automatically. + +See examples of adding new parameters in commits: [c434107](https://github.com/okalachev/flix/commit/c434107), [a687303](https://github.com/okalachev/flix/commit/a687303). + +## Adding a subsystem + +To add a new subsystem: + +1. Create a new `*.ino` file for your subsystem. +2. Define setup and loop functions for the subsystem, for example `setupMySubsystem()` and `loopMySubsystem()`. +3. Use `Rate` class if you need to limit the loop frequency, for example: + + ```cpp + Rate mySubsystemRate(100); // 100 Hz + + void loopMySubsystem() { + if (!mySubsystemRate) return; + // Do something... + } +4. Add setup and loop calls in to `setup()` and `loop()` functions in `flix.ino`. + ## Building the firmware See build instructions in [usage.md](usage.md). From f8a9f1f8383589a3217e7a53f998be9a1097e697 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 13 May 2026 01:27:01 +0300 Subject: [PATCH 087/154] Remove reboot requirement when changing RC_RX_PIN --- docs/usage.md | 2 +- flix/parameters.ino | 2 +- gazebo/flix.h | 1 + 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index e610bde..631ac82 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -220,7 +220,7 @@ Before using SBUS-connected remote control you need to enable SBUS and calibrate 1. Connect to the drone using QGroundControl. 2. In parameters, set the `RC_RX_PIN` parameter to the GPIO pin number where the SBUS signal is connected, for example: 4. Negative value disables SBUS. -3. Reboot the drone to apply changes. +3. Check if the receiver is working using `rc` command in the console. 4. Open the console, type `cr` command and follow the instructions to calibrate the remote control. 5. Use the remote control to fly the drone! diff --git a/flix/parameters.ino b/flix/parameters.ino index 54e466a..75d0288 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -86,7 +86,7 @@ Parameter parameters[] = { {"MOT_PWM_MIN", &pwmMin}, {"MOT_PWM_MAX", &pwmMax}, // rc - {"RC_RX_PIN", &rcRxPin}, + {"RC_RX_PIN", &rcRxPin, setupRC}, {"RC_ZERO_0", &channelZero[0]}, {"RC_ZERO_1", &channelZero[1]}, {"RC_ZERO_2", &channelZero[2]}, diff --git a/gazebo/flix.h b/gazebo/flix.h index 53163e5..83a956f 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -43,6 +43,7 @@ void print(const char* format, ...); void pause(float duration); void doCommand(String str, bool echo); void handleInput(); +void setupRC(); void normalizeRC(); void calibrateRC(); void calibrateRCChannel(int*, uint16_t[16], uint16_t[16], const char*); From e53051a3490c0c2adba232b4fa5c9e96143b2a16 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 13 May 2026 06:00:51 +0300 Subject: [PATCH 088/154] Fix console command parsing --- flix/util.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/flix/util.h b/flix/util.h index ffb57b3..cda50f3 100644 --- a/flix/util.h +++ b/flix/util.h @@ -36,11 +36,14 @@ float wrapAngle(float angle) { // Trim and split string by spaces void splitString(String& str, String& token0, String& token1, String& token2) { str.trim(); + if (str.isEmpty()) return; char chars[str.length() + 1]; str.toCharArray(chars, str.length() + 1); token0 = strtok(chars, " "); - token1 = strtok(NULL, " "); // String(NULL) creates empty string + token1 = strtok(NULL, " "); token2 = strtok(NULL, ""); + if (token1.c_str() == NULL) token1 = ""; + if (token2.c_str() == NULL) token2 = ""; } // Rate limiter From 72a72fde80920c5929448b962f5a3236723565fe Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 14 May 2026 21:59:15 +0300 Subject: [PATCH 089/154] Some docs improvements --- docs/usage.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 631ac82..39f9da4 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -138,7 +138,7 @@ Before flight you need to calibrate the accelerometer: If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively). -Certain ESP32 models (such as ESP32-S3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz. +Certain ESP32 models (such as ESP32-S3 and ESP32-C3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz. If using brushless motors and ESCs: @@ -216,7 +216,7 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F ### Control with a remote control -Before using SBUS-connected remote control you need to enable SBUS and calibrate it: +If using SBUS-connected remote control you need to enable SBUS and calibrate it: 1. Connect to the drone using QGroundControl. 2. In parameters, set the `RC_RX_PIN` parameter to the GPIO pin number where the SBUS signal is connected, for example: 4. Negative value disables SBUS. From 3816ae376fe57c9a970a2fc931aca51d205787d1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 17 May 2026 06:21:13 +0300 Subject: [PATCH 090/154] Bring back initializing the lpf with the first input value It's much better for voltage measuring and slightly better for gyro bias estimation. --- flix/lpf.h | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/flix/lpf.h b/flix/lpf.h index 9eae80d..9ee4e0a 100644 --- a/flix/lpf.h +++ b/flix/lpf.h @@ -14,6 +14,10 @@ public: LowPassFilter(float alpha): alpha(alpha) {}; T update(const T input) { + if (!init) { + init = true; + return output = input; + } return output += alpha * (input - output); } @@ -22,6 +26,9 @@ public: } void reset() { - output = T(); // set to zero + init = false; } + +private: + bool init = false; }; From 4530c05b5c2a297b6a054c694bedbcbcb117a9cc Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 17 May 2026 06:46:11 +0300 Subject: [PATCH 091/154] Add Flix 1.5 to builds --- 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a/docs/user.md b/docs/user.md index a18609a..280c9ea 100644 --- a/docs/user.md +++ b/docs/user.md @@ -12,6 +12,14 @@ Description: XR2981 based DC-DC converter, ELRS MINI 2.4GHz RX SX1280 receiver ( --- +Author: Oleg Kalachev.
+Description: the first attempt on making an official PCB based Flix drone (Flix2 board). The IMU is not working on this version, so an external MPU-6050 board was used, therefore considered as **Flix version 1.5**.
+[Flight video](https://drive.google.com/file/d/1R7tuUsFmPY0CGcOCFfMFaCp9kR49K3bl/view?usp=sharing). + + + +--- + Author: [FanBy0ru](https://https://github.com/FanBy0ru).
Description: custom 3D-printed frame.
Frame STLs and flight validation: https://cults3d.com/en/3d-model/gadget/armature-pour-flix-drone. From bd2b1bd5def11bcb676e6bc6c5b4b790a40f1415 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 18 May 2026 00:30:42 +0300 Subject: [PATCH 092/154] Improve voltage measurement Apply PWM_VOLT_PIN without reboot. Check if the voltage pin can be used with ADC when setting up. Set voltage to NAN, when it's unknown (including pyflix). pyflix@0.15. Don't send BATTERY_STATUS when voltage is unknown. Add dummy voltage to the simulator. --- flix/mavlink.ino | 2 +- flix/parameters.ino | 2 +- flix/power.ino | 6 +++--- gazebo/Arduino.h | 1 + gazebo/flix.h | 1 + gazebo/simulator.cpp | 2 ++ tools/pyflix/README.md | 2 +- tools/pyflix/flix.py | 3 ++- tools/pyproject.toml | 2 +- 9 files changed, 13 insertions(+), 8 deletions(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index feaef8d..0fae287 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -46,7 +46,7 @@ void sendMavlink() { float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1); mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL, MAV_BATTERY_TYPE_LIPO, INT16_MAX, voltages, -1, -1, -1, remaining * 100, 0, MAV_BATTERY_CHARGE_STATE_OK, voltagesExt, 0, 0); - sendMessage(&msg); + if (valid(voltage)) sendMessage(&msg); } if (telemetryFast && mavlinkConnected) { diff --git a/flix/parameters.ino b/flix/parameters.ino index 75d0288..d0d88bd 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -117,7 +117,7 @@ Parameter parameters[] = { {"MAV_RATE_SLOW", &telemetrySlow.rate}, {"MAV_RATE_FAST", &telemetryFast.rate}, // power - {"PWR_VOLT_PIN", &voltagePin}, + {"PWR_VOLT_PIN", &voltagePin, setupPower}, {"PWR_VOLT_SCALE", &voltageScale}, {"PWR_VOLT_LPF_A", &voltageFilter.alpha}, // safety diff --git a/flix/power.ino b/flix/power.ino index b9e07f0..a6df104 100644 --- a/flix/power.ino +++ b/flix/power.ino @@ -8,14 +8,14 @@ #include "lpf.h" #include "util.h" -float voltage; +float voltage = NAN; LowPassFilter voltageFilter(0.2); int voltagePin = -1; float voltageScale = 2; void setupPower() { - // Disable reset on low voltage - REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); + REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA); // disable reset on low voltage + if (digitalPinToAnalogChannel(voltagePin) == -1) voltagePin = -1; // test ADC pin } void readVoltage() { diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h index 52c849b..6122225 100644 --- a/gazebo/Arduino.h +++ b/gazebo/Arduino.h @@ -168,6 +168,7 @@ void delay(uint32_t ms) { bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; } bool ledcWrite(uint8_t pin, uint32_t duty) { return true; } uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; } +int8_t digitalPinToAnalogChannel(uint8_t pin) { return -1; } uint32_t analogReadMilliVolts(uint8_t pin) { return 0; } unsigned long __micros; diff --git a/gazebo/flix.h b/gazebo/flix.h index 83a956f..122bdb5 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -58,6 +58,7 @@ void handleMavlink(const void *_msg); void mavlinkPrint(const char* str); void sendMavlinkPrint(); inline Quaternion fluToFrd(const Quaternion &q); +void setupPower(); void failsafe(); void rcLossFailsafe(); void descend(); diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp index cf3e9e5..ca2776c 100644 --- a/gazebo/simulator.cpp +++ b/gazebo/simulator.cpp @@ -73,6 +73,8 @@ public: gyro = Vector(imu->AngularVelocity().X(), imu->AngularVelocity().Y(), imu->AngularVelocity().Z()); acc = this->accFilter.update(Vector(imu->LinearAcceleration().X(), imu->LinearAcceleration().Y(), imu->LinearAcceleration().Z())); + voltage = 4.2f; // dummy voltage value + readRC(); estimate(); diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index 702e39d..eff2ab1 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -37,7 +37,7 @@ print(flix.connected) # True if connected to the drone print(flix.mode) # current flight mode (str) print(flix.armed) # True if the drone is armed print(flix.landed) # True if the drone is landed -print(flix.voltage) # battery voltage +print(flix.voltage) # battery voltage (NaN - unknown, ~0 - USB powered) print(flix.attitude) # attitude quaternion [w, x, y, z] print(flix.attitude_euler) # attitude as Euler angles [roll, pitch, yaw] print(flix.rates) # angular rates [roll_rate, pitch_rate, yaw_rate] diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py index 211b5df..a6b44a3 100644 --- a/tools/pyflix/flix.py +++ b/tools/pyflix/flix.py @@ -5,6 +5,7 @@ import os import time +import math from queue import Queue, Empty from typing import Optional, Callable, List, Dict, Any, Union, Sequence import logging @@ -26,7 +27,7 @@ class Flix: mode: str = '' armed: bool = False landed: bool = False - voltage: float = 0 + voltage: float = math.nan attitude: List[float] attitude_euler: List[float] # roll, pitch, yaw rates: List[float] diff --git a/tools/pyproject.toml b/tools/pyproject.toml index 0ac51a0..7b6031c 100644 --- a/tools/pyproject.toml +++ b/tools/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyflix" -version = "0.14" +version = "0.15" description = "Python API for Flix drone" authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] license = "MIT" From fdcc9533b3a1f797680690c429a770daa24968d0 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 21 May 2026 10:48:31 +0300 Subject: [PATCH 093/154] Implement ESP-NOW support (#40) --- Makefile | 4 ++ README.md | 4 +- docs/img/espnow-connection.jpg | Bin 0 -> 47299 bytes docs/usage.md | 38 ++++++++++-- flix/cli.ino | 8 ++- flix/parameters.ino | 5 +- flix/util.h | 11 ++++ flix/wifi.ino | 81 +++++++++++++++++++------ gazebo/ESP32_NOW_Serial.h | 12 ++++ tools/espnow-proxy/README.md | 3 + tools/espnow-proxy/espnow-proxy.ino | 88 ++++++++++++++++++++++++++++ 11 files changed, 227 insertions(+), 27 deletions(-) create mode 100644 docs/img/espnow-connection.jpg create mode 100644 gazebo/ESP32_NOW_Serial.h create mode 100644 tools/espnow-proxy/README.md create mode 100644 tools/espnow-proxy/espnow-proxy.ino diff --git a/Makefile b/Makefile index 5dfc9e6..de670c4 100644 --- a/Makefile +++ b/Makefile @@ -18,6 +18,10 @@ dependencies .dependencies: arduino-cli lib install "MAVLink"@2.0.25 touch .dependencies +upload_proxy: .dependencies + arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy + arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy + gazebo/build cmake: gazebo/CMakeLists.txt mkdir -p gazebo/build cd gazebo/build && cmake .. diff --git a/README.md b/README.md index 649c559..c7da620 100644 --- a/README.md +++ b/README.md @@ -21,8 +21,8 @@ * Dedicated for education and research. * Made from general-purpose components. * Simple and clean source code in Arduino (<2k lines firmware). -* Connectivity using Wi-Fi and MAVLink protocol. -* Control using USB gamepad, remote control or smartphone. +* Communication using MAVLink protocol over Wi-Fi or ESP-NOW. +* Control with USB gamepad, remote control or smartphone. * Wireless command line interface and analyzing. * Precise simulation with Gazebo. * Python library for scripting and automatic flights. diff --git a/docs/img/espnow-connection.jpg b/docs/img/espnow-connection.jpg new file mode 100644 index 0000000000000000000000000000000000000000..fdd6a0e60c8469bdbb581f1bc0dcffb75afa7e35 GIT binary patch literal 47299 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`0` — Wi-Fi is disabled. * `1` — Access Point mode *(AP)* — the drone creates a Wi-Fi network. -* `2` — Client mode *(STA)* — the drone connects to an existing Wi-Fi network. -* `3` — *ESP-NOW (not implemented yet)*. - -> [!WARNING] -> Tests showed that Client mode may cause **additional delays** in remote control (due to retranslations), so it's generally not recommended. +* `2` — Client mode *(STA)* — the drone connects to an existing Wi-Fi network (may cause additional delays, so generally not recommended). +* `3` — ESP-NOW mode — the drone uses ESP-NOW protocol for communication. The SSID and password are configured using the `ap` and `sta` console commands: @@ -316,6 +313,37 @@ Disabling Wi-Fi: p WIFI_MODE 0 ``` +### Using ESP-NOW + +[ESP-NOW](https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/network/esp_now.html) is a low level wireless communication protocol. It can provide lower latency, better reliability, and longer range than Wi-Fi. However, it requires a second ESP32 board to be used as a proxy for the computer. + + + +To setup ESP-NOW communication: + +1. Flash the second ESP32 board with ESP-NOW proxy sketch: [`tools/espnow-proxy/espnow-proxy.ino`](../tools/espnow-proxy/espnow-proxy.ino). Use Arduino IDE or command line: `make upload_proxy`. + +2. Open Serial Monitor or use `make monitor` command. The ESP32 will print its MAC address and generated encryption key, for example: + + ``` + espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E + ``` + + Run this line as a console command on each drone you want to bind to this proxy board. + +3. Set the `WIFI_MODE` parameter to `3` on the drone: + + ``` + p WIFI_MODE 3 + ``` + +4. Go to the QGroundControl menu ⇒ *Application Settings* ⇒ *Comm Links*, add new link with the following settings: + * Name: ESP32. + * Type: Serial. + * Serial Port: choose the port of the proxy ESP32 board, e. g. `/dev/cu.usbserial-0001`. + * Baud Rate: 115200. +5. Click *Save*. QGroundControl should connect to the drone using ESP-NOW and begin showing the telemetry. + ## Flight log After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that: diff --git a/flix/cli.ino b/flix/cli.ino index 6be66c0..7922f1a 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -10,6 +10,7 @@ extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int RAW, ACRO, STAB, AUTO; +extern const int W_AP, W_STA, W_ESPNOW; extern float t, dt, loopRate; extern uint16_t channels[16]; extern float controlTime; @@ -45,6 +46,7 @@ const char* motd = "wifi - show Wi-Fi info\n" "ap - setup Wi-Fi access point\n" "sta - setup Wi-Fi client mode\n" +"espnow [] - setup ESP-NOW peer\n" "mot - show motor output\n" "log [dump] - print log header [and data]\n" "cr - calibrate RC\n" @@ -143,9 +145,11 @@ void doCommand(String str, bool echo = false) { } else if (command == "wifi") { printWiFiInfo(); } else if (command == "ap") { - configWiFi(true, arg0.c_str(), arg1.c_str()); + configWiFi(W_AP, arg0.c_str(), arg1.c_str()); } else if (command == "sta") { - configWiFi(false, arg0.c_str(), arg1.c_str()); + configWiFi(W_STA, arg0.c_str(), arg1.c_str()); + } else if (command == "espnow") { + configWiFi(W_ESPNOW, arg0.c_str(), arg1.c_str()); } 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]); diff --git a/flix/parameters.ino b/flix/parameters.ino index d0d88bd..6533110 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -10,7 +10,7 @@ extern int channelZero[16]; extern int channelMax[16]; extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern int rcRxPin; -extern int wifiMode, udpLocalPort, udpRemotePort; +extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel; extern float rcLossTimeout, descendTime; extern int voltagePin; extern float voltageScale; @@ -112,6 +112,9 @@ Parameter parameters[] = { {"WIFI_MODE", &wifiMode}, {"WIFI_PORT_LOC", &udpLocalPort}, {"WIFI_PORT_REM", &udpRemotePort}, + {"WIFI_LONG_RANGE", &wifiLongRange}, + // espnow + {"ESPNOW_CHANNEL", &espnowChannel}, // mavlink {"MAV_SYS_ID", &mavlinkSysId}, {"MAV_RATE_SLOW", &telemetrySlow.rate}, diff --git a/flix/util.h b/flix/util.h index cda50f3..f721f4a 100644 --- a/flix/util.h +++ b/flix/util.h @@ -6,6 +6,7 @@ #pragma once #include +#include const float ONE_G = 9.80665; extern float t; @@ -46,6 +47,16 @@ void splitString(String& str, String& token0, String& token1, String& token2) { if (token2.c_str() == NULL) token2 = ""; } +// Simplified ESP-NOW Serial without tx buffering and resends +class ESPNOWSerial : public ESP_NOW_Serial_Class { +public: + using ESP_NOW_Serial_Class::ESP_NOW_Serial_Class; + void onSent(bool success) override {} // disable resends + size_t write(const uint8_t *data, size_t len) override { + return ESP_NOW_Peer::send(data, len); // pure send without buffering + } +}; + // Rate limiter class Rate { public: diff --git a/flix/wifi.ino b/flix/wifi.ino index c0aa119..5c87828 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -1,82 +1,129 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// Wi-Fi communication +// Wi-Fi and ESP-NOW communication #include #include #include +#include +#include #include "Preferences.h" +#include "util.h" extern Preferences storage; // use the main preferences storage -const int W_DISABLED = 0, W_AP = 1, W_STA = 2; +const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3; int wifiMode = W_AP; + +int wifiLongRange = 0; int udpLocalPort = 14550; int udpRemotePort = 14550; IPAddress udpRemoteIP = "255.255.255.255"; - WiFiUDP udp; +ESPNOWSerial espnow(NULL, 0, WIFI_IF_AP); +ESPNOWSerial espnowBroadcast(ESP_NOW.BROADCAST_ADDR, 0, WIFI_IF_AP); +int espnowChannel = 6; + void setupWiFi() { print("Setup Wi-Fi\n"); + WiFi.enableLongRange(wifiLongRange); + if (wifiMode == W_AP) { WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str()); + udp.begin(udpLocalPort); } else if (wifiMode == W_STA) { WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str()); - } else { - return; + udp.begin(udpLocalPort); + } else if (wifiMode == W_ESPNOW) { + WiFi.mode(WIFI_AP); + WiFi.setChannel(espnowChannel); + espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str())); + String key = storage.getString("ESPNOW_PEER_KEY", ""); + espnow.setKey(key.isEmpty() ? nullptr : (const uint8_t *)key.c_str()); + espnow.begin(); + espnowBroadcast.begin(); } + WiFi.setSleep(false); // disable power save - udp.begin(udpLocalPort); } void sendWiFi(const uint8_t *buf, int len) { + if (espnow) { + espnow.write(buf, len); + static Rate discovery(2); + if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device + return; + } + if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return; + udp.beginPacket(udpRemoteIP, udpRemotePort); udp.write(buf, len); udp.endPacket(); } int receiveWiFi(uint8_t *buf, int len) { + if (espnow) { + return espnow.read(buf, len); + } + if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return 0; + udp.parsePacket(); if (udp.remoteIP()) udpRemoteIP = udp.remoteIP(); return udp.read(buf, len); } void printWiFiInfo() { - if (WiFi.getMode() == WIFI_MODE_AP) { + if (espnow) { + print("Mode: ESP-NOW\n"); + print("ESP-NOW version: %d\n", ESP_NOW.getVersion()); + print("Max packet size: %d\n", ESP_NOW.getMaxDataLen()); + print("MAC: %s\n", WiFi.softAPmacAddress().c_str()); + print("Peer MAC: %s\n", MacAddress(espnow.addr()).toString().c_str()); + print("Encrypted: %d\n", espnow.isEncrypted()); + print("Channel: %d\n", espnow.getChannel()); + } else if (WiFi.getMode() == WIFI_MODE_AP) { print("Mode: Access Point (AP)\n"); print("MAC: %s\n", WiFi.softAPmacAddress().c_str()); print("SSID: %s\n", WiFi.softAPSSID().c_str()); print("Password: ***\n"); + print("Channel: %d\n", WiFi.channel()); print("Clients: %d\n", WiFi.softAPgetStationNum()); print("IP: %s\n", WiFi.softAPIP().toString().c_str()); + print("Remote IP: %s\n", udpRemoteIP.toString().c_str()); } else if (WiFi.getMode() == WIFI_MODE_STA) { print("Mode: Client (STA)\n"); print("Connected: %d\n", WiFi.isConnected()); print("MAC: %s\n", WiFi.macAddress().c_str()); print("SSID: %s\n", WiFi.SSID().c_str()); print("Password: ***\n"); - print("IP: %s\n", WiFi.localIP().toString().c_str()); + print("Channel: %d\n", WiFi.channel()); print("RSSI: %d dBm\n", WiFi.RSSI()); + print("IP: %s\n", WiFi.localIP().toString().c_str()); + print("Remote IP: %s\n", udpRemoteIP.toString().c_str()); } else { print("Mode: Disabled\n"); - return; } - print("Channel: %d\n", WiFi.channel()); - print("Remote IP: %s\n", udpRemoteIP.toString().c_str()); print("MAVLink connected: %d\n", mavlinkConnected); } -void configWiFi(bool ap, const char *ssid, const char *password) { - if (ap) { - storage.putString("WIFI_AP_SSID", ssid); - storage.putString("WIFI_AP_PASS", password); +void configWiFi(int mode, const char *first, const char *second) { + MacAddress mac; + if (mode == W_AP && strlen(first) > 0 && strlen(second) >= 8) { + storage.putString("WIFI_AP_SSID", first); + storage.putString("WIFI_AP_PASS", second); + } else if (mode == W_STA && strlen(first) > 0 && strlen(second) >= 8) { + storage.putString("WIFI_STA_SSID", first); + storage.putString("WIFI_STA_PASS", second); + } else if (mode == W_ESPNOW && mac.fromString(first)) { + storage.putString("ESPNOW_PEER_MAC", first); + storage.putString("ESPNOW_PEER_KEY", strlen(second) == ESP_NOW_KEY_LEN ? second : ""); } else { - storage.putString("WIFI_STA_SSID", ssid); - storage.putString("WIFI_STA_PASS", password); + print("Invalid configuration\n"); + return; } print("✓ Reboot to apply new settings\n"); } diff --git a/gazebo/ESP32_NOW_Serial.h b/gazebo/ESP32_NOW_Serial.h new file mode 100644 index 0000000..1d56c35 --- /dev/null +++ b/gazebo/ESP32_NOW_Serial.h @@ -0,0 +1,12 @@ +// Dummy file for the simulator + +class ESP_NOW_Peer { +protected: + size_t send(const uint8_t *data, int len) { return 0; } +}; + +class ESP_NOW_Serial_Class : public ESP_NOW_Peer { +public: + virtual void onSent(bool success) {}; + virtual size_t write(const uint8_t *data, size_t len) { return 0; }; +}; diff --git a/tools/espnow-proxy/README.md b/tools/espnow-proxy/README.md new file mode 100644 index 0000000..0a83be2 --- /dev/null +++ b/tools/espnow-proxy/README.md @@ -0,0 +1,3 @@ +# ESPNOW-proxy + +Proxy sketch for using ESP-NOW connection with Flix drone. diff --git a/tools/espnow-proxy/espnow-proxy.ino b/tools/espnow-proxy/espnow-proxy.ino new file mode 100644 index 0000000..c42c914 --- /dev/null +++ b/tools/espnow-proxy/espnow-proxy.ino @@ -0,0 +1,88 @@ +// Copyright (c) 2026 Oleg Kalachev +// Repository: https://github.com/okalachev/flix + +// Proxy for ESP-NOW connection + +#include +#include +#include +#include +#include +#include +#include "../../flix/util.h" + +const int CHANNEL = 6; +char key[ESP_NOW_KEY_LEN + 1] = {0}; // with trailing null + +Preferences storage; + +std::vector peers; + +void onNewPeer(const esp_now_recv_info_t *info, const uint8_t *data, int len, void *arg) { + if (len != 4 || memcmp(data, "flix", 4) != 0) return; // check if discovery message + + Serial.printf("New peer: " MACSTR "\n", MAC2STR(info->src_addr)); + ESPNOWSerial *link = new ESPNOWSerial(info->src_addr, CHANNEL, WIFI_IF_AP); + link->begin(); + link->setKey((const uint8_t *)key); + peers.push_back(link); +} + +void setup() { + Serial.begin(115200); + WiFi.mode(WIFI_AP); + WiFi.setSleep(false); + WiFi.setChannel(CHANNEL); + + ESP_NOW.onNewPeer(onNewPeer, NULL); + ESP_NOW.begin(); + + storage.begin("espnow-proxy"); + if (!storage.isKey("key")) { + generateRandomKey(); + storage.putString("key", key); + } + strcpy(key, storage.getString("key").c_str()); + + // Discover the first peer + while (peers.empty()) { + Serial.printf("espnow %s %s\n", WiFi.softAPmacAddress().c_str(), key); + delay(500); + } +} + +void generateRandomKey() { + const char chars[] = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789!@#$%^&*-_+="; + for (int i = 0; i < ESP_NOW_KEY_LEN; i++) { + key[i] = chars[random(0, strlen(chars))]; + } +} + +void loop() { + uint8_t buf[5000]; + + // Send from Serial to ESP-NOW + while (Serial.available() > 0) { + int b = Serial.read(); + if (b < 0) { + break; + } + + mavlink_message_t msg; + mavlink_status_t status; + if (mavlink_parse_char(MAVLINK_COMM_0, (uint8_t)b, &msg, &status)) { + int len = mavlink_msg_to_send_buffer(buf, &msg); + for (ESPNOWSerial *link : peers) { + link->write(buf, len); + } + } + } + + // Send from ESP-NOW to Serial + for (ESPNOWSerial *link : peers) { + int len = link->read(buf, sizeof(buf)); + if (len > 0) { + Serial.write(buf, len); + } + } +} From 91173d06c9f0f5be62994edabbc3650aeec76157 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 22 May 2026 08:03:46 +0300 Subject: [PATCH 094/154] Various minor changes --- README.md | 2 +- docs/troubleshooting.md | 2 +- docs/usage.md | 2 +- flix/mavlink.ino | 2 +- flix/motors.ino | 5 +---- flix/parameters.ino | 6 ++---- flix/wifi.ino | 10 +++++++--- 7 files changed, 14 insertions(+), 15 deletions(-) diff --git a/README.md b/README.md index c7da620..28da1b8 100644 --- a/README.md +++ b/README.md @@ -73,7 +73,7 @@ Additional articles: |-|-|:-:|:-:| |Microcontroller board|ESP32 Mini.
ESP32-S3/ESP32-C3 boards are also supported.||1| |IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)
ICM20948V2 (ICM‑20948)
GY-521 (MPU-6050)|

|1| -|Boost converter (optional, for more stable power supply)|5V output||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 or 65 mm||4| |MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)||4| diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md index 8f06718..28af53f 100644 --- a/docs/troubleshooting.md +++ b/docs/troubleshooting.md @@ -5,7 +5,7 @@ Do the following: * **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 libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU-9250 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*. ## The drone doesn't fly diff --git a/docs/usage.md b/docs/usage.md index 5984a32..16123c8 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -329,7 +329,7 @@ To setup ESP-NOW communication: espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E ``` - Run this line as a console command on each drone you want to bind to this proxy board. + Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) io 6 (encrypted). 3. Set the `WIFI_MODE` parameter to `3` on the drone: diff --git a/flix/mavlink.ino b/flix/mavlink.ino index 0fae287..a635947 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -241,7 +241,7 @@ void handleMavlink(const void *_msg) { } if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) { - if (m.param1 && controlThrottle > 0.05) return; // don't arm if throttle is not low + if (m.param1 == 1 && controlThrottle > 0.05) return; // don't arm if throttle is not low accepted = true; armed = m.param1 == 1; } diff --git a/flix/motors.ino b/flix/motors.ino index 3289755..b25e61a 100644 --- a/flix/motors.ino +++ b/flix/motors.ino @@ -14,10 +14,7 @@ int pwmStop = 0; int pwmMin = 0; int pwmMax = -1; // -1 means duty cycle mode -const int MOTOR_REAR_LEFT = 0; -const int MOTOR_REAR_RIGHT = 1; -const int MOTOR_FRONT_RIGHT = 2; -const int MOTOR_FRONT_LEFT = 3; +const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3; void setupMotors() { print("Setup Motors\n"); diff --git a/flix/parameters.ino b/flix/parameters.ino index 6533110..f1dd5df 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -6,13 +6,11 @@ #include #include "util.h" -extern int channelZero[16]; -extern int channelMax[16]; +extern int channelZero[16], channelMax[16]; extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; -extern int rcRxPin; +extern int rcRxPin, voltagePin; extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel; extern float rcLossTimeout, descendTime; -extern int voltagePin; extern float voltageScale; extern LowPassFilter voltageFilter; diff --git a/flix/wifi.ino b/flix/wifi.ino index 5c87828..bfd5061 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -8,7 +8,7 @@ #include #include #include -#include "Preferences.h" +#include #include "util.h" extern Preferences storage; // use the main preferences storage @@ -33,10 +33,14 @@ void setupWiFi() { if (wifiMode == W_AP) { WiFi.softAP(storage.getString("WIFI_AP_SSID", "flix").c_str(), storage.getString("WIFI_AP_PASS", "flixwifi").c_str()); udp.begin(udpLocalPort); - } else if (wifiMode == W_STA) { + } + + if (wifiMode == W_STA) { WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str()); udp.begin(udpLocalPort); - } else if (wifiMode == W_ESPNOW) { + } + + if (wifiMode == W_ESPNOW) { WiFi.mode(WIFI_AP); WiFi.setChannel(espnowChannel); espnow.addr(MacAddress(storage.getString("ESPNOW_PEER_MAC", "FF:FF:FF:FF:FF:FF").c_str())); From 18e81720e0318456c0101dfb9a5074221d51e3e9 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 26 May 2026 14:23:56 +0300 Subject: [PATCH 095/154] Add video of pcb version flights to the readme --- README.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/README.md b/README.md index 28da1b8..caed4e8 100644 --- a/README.md +++ b/README.md @@ -47,6 +47,14 @@ See the [user builds gallery](docs/user.md):
+### PCB + +The official PCB *(Flix2)* is in development now. Follow the [project's channel](https://t.me/opensourcequadcopter) to track the progress. + +Outdoor flights demo video of the current prototype: + + + ## Simulation The simulator is implemented using Gazebo and runs the original Arduino code: From cdfba72a0b05885a7674456980d89bcf33648964 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 27 May 2026 11:03:50 +0300 Subject: [PATCH 096/154] Fix simulator run Add missing extern variables. Fix warning. --- flix/mavlink.ino | 2 +- gazebo/wifi.h | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index a635947..66feef6 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -41,7 +41,7 @@ void sendMavlink() { MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR); sendMessage(&msg); - uint16_t voltages[] = {voltage * 1000, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX}; + uint16_t voltages[] = {(uint16_t)(voltage * 1000), UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX}; uint16_t voltagesExt[] = {0, 0, 0, 0}; float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1); mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL, diff --git a/gazebo/wifi.h b/gazebo/wifi.h index 1c7b708..b01bac0 100644 --- a/gazebo/wifi.h +++ b/gazebo/wifi.h @@ -11,7 +11,12 @@ #include #include -int wifiMode = 1; // mock +// Mocks +int wifiMode = 1; +int wifiLongRange = 0; +int espnowChannel = 6; +const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3; + int udpLocalPort = 14580; int udpRemotePort = 14550; const char *udpRemoteIP = "255.255.255.255"; From a294883dea33ea1e47b6acc679f8e8f7075fd1fb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 27 May 2026 13:58:51 +0300 Subject: [PATCH 097/154] Make p command show all parameters starting with the arg --- flix/cli.ino | 8 +++----- flix/parameters.ino | 3 ++- gazebo/flix.h | 2 +- 3 files changed, 6 insertions(+), 7 deletions(-) diff --git a/flix/cli.ino b/flix/cli.ino index 7922f1a..faeaac3 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -31,7 +31,7 @@ const char* motd = "Commands:\n\n" "help - show help\n" "p - show all parameters\n" -"p - show parameter\n" +"p - show parameters starting with str\n" "p - set parameter\n" "preset - reset parameters\n" "time - show time info\n" @@ -92,10 +92,8 @@ void doCommand(String str, bool echo = false) { // execute command if (command == "help" || command == "motd") { print("%s\n", motd); - } else if (command == "p" && arg0 == "") { - printParameters(); - } else if (command == "p" && arg0 != "" && arg1 == "") { - print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str())); + } else if (command == "p" && arg1 == "") { + printParameters(arg0.c_str()); } else if (command == "p") { bool success = setParameter(arg0.c_str(), arg1.toFloat()); if (success) { diff --git a/flix/parameters.ino b/flix/parameters.ino index f1dd5df..65f3e89 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -188,8 +188,9 @@ void syncParameters() { } } -void printParameters() { +void printParameters(const char *filter) { for (auto ¶meter : parameters) { + if (strncasecmp(parameter.name, filter, strlen(filter))) continue; print("%s = %g\n", parameter.name, parameter.getValue()); } } diff --git a/gazebo/flix.h b/gazebo/flix.h index 122bdb5..8c3f1c3 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -68,7 +68,7 @@ const char *getParameterName(int index); float getParameter(int index); float getParameter(const char *name); bool setParameter(const char *name, const float value); -void printParameters(); +void printParameters(const char *filter); void resetParameters(); // mocks From 4e32414daef7f00b481a7c5e18a8a01e5b7c42c6 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 May 2026 18:22:16 +0300 Subject: [PATCH 098/154] Support ESP-NOW connection in pyflix Set arbitrary pymavlink connection string using device parameter or FLIX_DEVICE env variable. pyflix@0.16. --- tools/pyflix/README.md | 2 ++ tools/pyflix/flix.py | 27 ++++++++++++++++----------- tools/pyproject.toml | 2 +- 3 files changed, 19 insertions(+), 12 deletions(-) diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index eff2ab1..ea79714 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -28,6 +28,8 @@ from pyflix import Flix flix = Flix() # create a Flix object and wait for connection ``` +If using ESP-NOW connection, specify the proxy's device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`. + ### Telemetry Basic telemetry is available through object properties. The property names generally match the corresponding variables in the firmware code: diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py index a6b44a3..b7166f1 100644 --- a/tools/pyflix/flix.py +++ b/tools/pyflix/flix.py @@ -44,22 +44,27 @@ class Flix: _print_buffer: str = '' _modes = ['RAW', 'ACRO', 'STAB', 'AUTO'] - def __init__(self, system_id: int=1, wait_connection: bool=True): + def __init__(self, system_id: int=1, wait_connection: bool=True, device=os.getenv('FLIX_DEVICE')): if not (0 <= system_id < 256): raise ValueError('system_id must be in range [0, 255]') self._setup_mavlink() self.system_id = system_id self._init_state() - try: - # Direct connection - logger.debug('Listening on port 14550') - self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14550', source_system=255) # type: ignore - except OSError as e: - if e.errno != errno.EADDRINUSE: - raise - # Port busy - using proxy - logger.debug('Listening on port 14555 (proxy)') - self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14555', source_system=254) # type: ignore + if device is not None: + # User defined connection + logger.debug(f'Connecting to {device}') + self.connection: mavutil.mavfile = mavutil.mavlink_connection(device, source_system=255) # type: ignore + else: + try: + # Direct connection + logger.debug('Listening on port 14550') + self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14550', source_system=255) # type: ignore + except OSError as e: + if e.errno != errno.EADDRINUSE: + raise + # Port busy - using proxy + logger.debug('Listening on port 14555 (proxy)') + self.connection: mavutil.mavfile = mavutil.mavlink_connection('udpin:0.0.0.0:14555', source_system=254) # type: ignore self.connection.target_system = system_id self.mavlink: mavlink.MAVLink = self.connection.mav self._event_listeners: Dict[str, List[Callable[..., Any]]] = {} diff --git a/tools/pyproject.toml b/tools/pyproject.toml index 7b6031c..d81174b 100644 --- a/tools/pyproject.toml +++ b/tools/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyflix" -version = "0.15" +version = "0.16" description = "Python API for Flix drone" authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }] license = "MIT" From 2f4b1423e640dfda7dc05f895d1d982f2d69f19d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 May 2026 18:39:44 +0300 Subject: [PATCH 099/154] Typo and minor code style changes --- flix/imu.ino | 8 ++++++-- flix/motors.ino | 3 ++- flix/rc.ino | 1 + flix/wifi.ino | 1 + tools/pyflix/README.md | 2 +- 5 files changed, 11 insertions(+), 4 deletions(-) diff --git a/flix/imu.ino b/flix/imu.ino index 136412e..0b0e97f 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -40,10 +40,12 @@ void readIMU() { imu.getGyro(gyro.x, gyro.y, gyro.z); imu.getAccel(acc.x, acc.y, acc.z); calibrateGyroOnce(); - // apply scale and bias + + // Apply scale and bias acc = (acc - accBias) / accScale; gyro = gyro - gyroBias; - // rotate to body frame + + // Rotate to body frame Quaternion rotation = Quaternion::fromEuler(imuRotation); acc = Quaternion::rotateVector(acc, rotation.inversed()); gyro = Quaternion::rotateVector(gyro, rotation.inversed()); @@ -52,6 +54,7 @@ void readIMU() { void calibrateGyroOnce() { static Delay landedDelay(2); if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary + gyroBias = gyroBiasFilter.update(gyro); } @@ -105,6 +108,7 @@ void calibrateAccelOnce() { if (acc.x < accMin.x) accMin.x = acc.x; if (acc.y < accMin.y) accMin.y = acc.y; if (acc.z < accMin.z) accMin.z = acc.z; + // Compute scale and bias accScale = (accMax - accMin) / 2 / ONE_G; accBias = (accMax + accMin) / 2; diff --git a/flix/motors.ino b/flix/motors.ino index b25e61a..b1a1206 100644 --- a/flix/motors.ino +++ b/flix/motors.ino @@ -18,7 +18,7 @@ const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTO void setupMotors() { print("Setup Motors\n"); - // configure pins + // Configure pins for (int i = 0; i < 4; i++) { ledcAttach(motorPins[i], pwmFrequency, pwmResolution); pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring @@ -35,6 +35,7 @@ void sendMotors() { int getDutyCycle(float value) { value = constrain(value, 0, 1); + if (pwmMax >= 0) { // pwm mode float pwm = mapf(value, 0, 1, pwmMin, pwmMax); if (value == 0) pwm = pwmStop; diff --git a/flix/rc.ino b/flix/rc.ino index 7433c72..8332e2d 100644 --- a/flix/rc.ino +++ b/flix/rc.ino @@ -55,6 +55,7 @@ void calibrateRC() { print("RC_RX_PIN = %d, set the RC pin!\n", rcRxPin); return; } + uint16_t zero[16]; // for zero positions uint16_t center[16]; // for center positions uint16_t _[16]; // for unused data diff --git a/flix/wifi.ino b/flix/wifi.ino index bfd5061..ccdf0fa 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -56,6 +56,7 @@ void setupWiFi() { void sendWiFi(const uint8_t *buf, int len) { if (espnow) { espnow.write(buf, len); + static Rate discovery(2); if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device return; diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index ea79714..138878f 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -28,7 +28,7 @@ from pyflix import Flix flix = Flix() # create a Flix object and wait for connection ``` -If using ESP-NOW connection, specify the proxy's device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`. +If using ESP-NOW connection, specify the proxy device name in `FLIX_DEVICE` environment variable or pass it to the constructor: `Flix(device='/dev/cu.usbserial-0001')`. ### Telemetry From b83c9b3845e1b287b72d82b8bb9fb58ee9da1d62 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 May 2026 18:41:34 +0300 Subject: [PATCH 100/154] Consider mavlink connected only when the gcs message is parsed --- flix/mavlink.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index 66feef6..bb9bc71 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -81,13 +81,13 @@ 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; mavlink_status_t status; for (int i = 0; i < len; i++) { if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) { + mavlinkConnected = true; handleMavlink(&msg); } } From 488ceb3004ce90a1b068f938ff30c394f271d8d9 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 May 2026 19:25:29 +0300 Subject: [PATCH 101/154] Set the debug level to error by default to see the errors --- Makefile | 2 +- docs/usage.md | 9 ++++++++- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/Makefile b/Makefile index de670c4..68771b5 100644 --- a/Makefile +++ b/Makefile @@ -1,4 +1,4 @@ -BOARD = esp32:esp32:d1_mini32 +BOARD = esp32:esp32:d1_mini32:DebugLevel=error PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*)) build: .dependencies diff --git a/docs/usage.md b/docs/usage.md index 16123c8..6091668 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -26,7 +26,8 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b * `MAVLink`, version 2.0.25. 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. +7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console. Set *Tools* ⇒ *USB CDC on Boot* to *Enabled* for ESP32-S3/ESP32-C3 boards. +8. [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) @@ -57,6 +58,12 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b make upload monitor ``` + For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://arduino.github.io/arduino-cli/1.5/FAQ/#whats-the-fqbn-string) using `BOARD` parameter: + + ```bash + make BOARD=esp32:esp32:esp32s3:DebugLevel=error,FlashSize=4M,CDCOnBoot=cdc upload + ``` + See other available Make commands in [Makefile](../Makefile). > [!TIP] From 22c06f76c423ae77a2da20f4909594553dc245c1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 28 May 2026 19:29:05 +0300 Subject: [PATCH 102/154] Add Awab Anas' build --- docs/img/user/aw_venom/1.jpg | Bin 0 -> 63921 bytes docs/user.md | 8 ++++++++ 2 files changed, 8 insertions(+) create mode 100644 docs/img/user/aw_venom/1.jpg diff --git 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+Description: ESP32 D1 Mini, MPU-6050, 8520 3.7V brushed motors, 55 mm propellers, battery li-po 1200 mAh, controlling via [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest).
+[Flight validation](https://drive.google.com/file/d/12z0jfctZDBA6b5UKCG0Uje5rAxj6DhF-/view?usp=sharing). + + + +--- + Author: [Ina Tix](https://t.me/ina_tix).
Description: XR2981 based DC-DC converter, ELRS MINI 2.4GHz RX SX1280 receiver (SBUS interface), Radiomaster TX12 remote control.
[Flight validation](https://drive.google.com/file/d/1yqkKNuz4R_yxGqUNQxVpixJbXqEEcUSj/view?usp=share_link). 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zR{bFo(SJ^S6uoKp6SQNMNj;@!%*6iqhfx%as(zChiCno9-`+95?}Bsc*aGIzwf_M4 ISpB#E*;Xct8vp --- +Author: [malagis](https://oshwhub.com/malagis).
+ +A Chinese custom PCB version of Flix with a big community of users, lots of materials and modifications. + +Main project's page: https://oshwhub.com/malagis/esp32-mini-plane.
+Video about the project: https://www.bilibili.com/video/BV14vyqBFEJn/. + + + +--- + ## 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. From 59f9528d34e45e50a130515c9d5684b7b9f98822 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 30 May 2026 11:11:35 +0300 Subject: [PATCH 104/154] Increase buffer for print, make sys output more correct usStackHighWaterMark is not stack size, it's the minimum stack size --- flix/cli.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flix/cli.ino b/flix/cli.ino index faeaac3..2f39f29 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -57,7 +57,7 @@ const char* motd = "reboot - reboot the drone\n"; void print(const char* format, ...) { - char buf[1000]; + char buf[3000]; va_list args; va_start(args, format); vsnprintf(buf, sizeof(buf), format, args); @@ -173,7 +173,7 @@ void doCommand(String str, bool echo = false) { print("Free heap: %d\n", ESP.getFreeHeap()); print("Firmware: " __DATE__ " " __TIME__ "\n"); // Print tasks table - print("Num Task Stack Prio Core CPU%%\n"); + print("Num Task MinSt Prio Core CPU%%\n"); int taskCount = uxTaskGetNumberOfTasks(); TaskStatus_t *systemState = new TaskStatus_t[taskCount]; uint32_t totalRunTime; From a5dbd2c82907a75a79f78d40ee0a8a5a92468490 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 30 May 2026 16:48:12 +0300 Subject: [PATCH 105/154] Add erase command to makefile --- Makefile | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Makefile b/Makefile index 68771b5..cebf864 100644 --- a/Makefile +++ b/Makefile @@ -7,6 +7,9 @@ build: .dependencies upload: build arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix +erase: + arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool + monitor: arduino-cli monitor -p "$(PORT)" -c baudrate=115200 From faca48ced3523a3bb86cd57706605e3b50f56ece Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 30 May 2026 16:51:15 +0300 Subject: [PATCH 106/154] Replace ps and psq commands with st command + minor changes Re-arrange commands order. Make command parser consider \r in addition to \n. --- flix/cli.ino | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/flix/cli.ino b/flix/cli.ino index 2f39f29..ed87692 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -35,13 +35,14 @@ const char* motd = "p - set parameter\n" "preset - reset parameters\n" "time - show time info\n" -"ps - show pitch/roll/yaw\n" -"psq - show attitude quaternion\n" "imu - show IMU data\n" +"ca - calibrate accel\n" +"st - show state estimation\n" "arm - arm the drone\n" "disarm - disarm the drone\n" "raw/stab/acro/auto - set mode\n" "rc - show RC data\n" +"cr - calibrate RC\n" "pw - show power info\n" "wifi - show Wi-Fi info\n" "ap - setup Wi-Fi access point\n" @@ -49,8 +50,6 @@ const char* motd = "espnow [] - setup ESP-NOW peer\n" "mot - show motor output\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" "sys - show system info\n" "reset - reset drone's state\n" @@ -107,15 +106,15 @@ void doCommand(String str, bool echo = false) { print("Time: %f\n", t); print("Loop rate: %.0f\n", loopRate); print("dt: %f\n", dt); - } else if (command == "ps") { - Vector a = attitude.toEuler(); - print("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z)); - } else if (command == "psq") { - print("qw: %f qx: %f qy: %f qz: %f\n", attitude.w, attitude.x, attitude.y, attitude.z); } else if (command == "imu") { printIMUInfo(); printIMUCalibration(); print("landed: %d\n", landed); + } else if (command == "st") { + print("rates: %g %g %g\n", rates.x, rates.y, rates.z); + print("attitude: %g %g %g %g\n", attitude.w, attitude.x, attitude.y, attitude.z); + print("roll: %g° pitch: %g° yaw: %g°\n", degrees(attitude.getRoll()), degrees(attitude.getPitch()), degrees(attitude.getYaw())); + print("landed: %d\n", landed); } else if (command == "arm") { armed = true; } else if (command == "disarm") { @@ -207,7 +206,7 @@ void handleInput() { while (Serial.available()) { char c = Serial.read(); - if (c == '\n') { + if (c == '\n' || c == '\r') { doCommand(input); input.clear(); } else { From 1fafc27b393c27c73065775853cb3b6511107797 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 30 May 2026 16:57:27 +0300 Subject: [PATCH 107/154] Make it possible to unassign motor pin using -1 parameter value --- flix/motors.ino | 2 ++ 1 file changed, 2 insertions(+) diff --git a/flix/motors.ino b/flix/motors.ino index b1a1206..1540ac4 100644 --- a/flix/motors.ino +++ b/flix/motors.ino @@ -20,6 +20,7 @@ void setupMotors() { print("Setup Motors\n"); // Configure pins for (int i = 0; i < 4; i++) { + if (motorPins[i] < 0) continue; // skip unassigned motors ledcAttach(motorPins[i], pwmFrequency, pwmResolution); pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring } @@ -29,6 +30,7 @@ void setupMotors() { void sendMotors() { for (int i = 0; i < 4; i++) { + if (motorPins[i] < 0) continue; // skip unassigned motors ledcWrite(motorPins[i], getDutyCycle(motors[i])); } } From 9d47bcb82e41f12ca2cfbb79144615f4f933b992 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 31 May 2026 18:10:00 +0300 Subject: [PATCH 108/154] Minor changes in docs --- docs/firmware.md | 3 +++ docs/usage.md | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/firmware.md b/docs/firmware.md index 9c3b8d2..8db55cd 100644 --- a/docs/firmware.md +++ b/docs/firmware.md @@ -79,6 +79,9 @@ To add a new parameter: See examples of adding new parameters in commits: [c434107](https://github.com/okalachev/flix/commit/c434107), [a687303](https://github.com/okalachev/flix/commit/a687303). +> [!NOTE] +> Since all the parameters are internally stored and passed as floats, the safe range for `int` parameters is -16777216 to 16777215. + ## Adding a subsystem To add a new subsystem: diff --git a/docs/usage.md b/docs/usage.md index 6091668..46e9d82 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -58,7 +58,7 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b make upload monitor ``` - For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://arduino.github.io/arduino-cli/1.5/FAQ/#whats-the-fqbn-string) using `BOARD` parameter: + For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://docs.arduino.cc/arduino-cli/FAQ/#whats-the-fqbn-string) using `BOARD` parameter: ```bash make BOARD=esp32:esp32:esp32s3:DebugLevel=error,FlashSize=4M,CDCOnBoot=cdc upload From 5e153a210d5f1b46630a5e59af4a51b19d132d59 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jun 2026 02:05:52 +0300 Subject: [PATCH 109/154] Update ESP32-Core to 3.3.10 --- .vscode/c_cpp_properties.json | 42 +++++++++++++++++------------------ Makefile | 2 +- docs/usage.md | 2 +- 3 files changed, 23 insertions(+), 23 deletions(-) diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 7b42a9b..3d7a7bb 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -6,18 +6,18 @@ "${workspaceFolder}/flix", "${workspaceFolder}/gazebo", "${workspaceFolder}/tools/**", - "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32", - "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**", - "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32", - "~/.arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32", + "~/.arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**", "~/Arduino/libraries/**", "/usr/include/gazebo-11/", "/usr/include/ignition/math6/" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h", - "~/.arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h", "${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/control.ino", "${workspaceFolder}/flix/estimate.ino", @@ -33,7 +33,7 @@ "${workspaceFolder}/flix/parameters.ino", "${workspaceFolder}/flix/safety.ino" ], - "compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++", + "compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++", "cStandard": "c11", "cppStandard": "c++17", "defines": [ @@ -53,18 +53,18 @@ "name": "Mac", "includePath": [ "${workspaceFolder}/flix", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32", - "~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32", + "~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**", "~/Documents/Arduino/libraries/**", "/opt/homebrew/include/gazebo-11/", "/opt/homebrew/include/ignition/math6/" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h", "${workspaceFolder}/flix/flix.ino", "${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/control.ino", @@ -80,7 +80,7 @@ "${workspaceFolder}/flix/parameters.ino", "${workspaceFolder}/flix/safety.ino" ], - "compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++", + "compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++", "cStandard": "c11", "cppStandard": "c++17", "defines": [ @@ -103,16 +103,16 @@ "${workspaceFolder}/flix", "${workspaceFolder}/gazebo", "${workspaceFolder}/tools/**", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/libraries/**", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32", - "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.6/include/**", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32", + "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**", "~/Documents/Arduino/libraries/**" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/cores/esp32/Arduino.h", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.6/variants/d1_mini32/pins_arduino.h", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h", "${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/control.ino", "${workspaceFolder}/flix/estimate.ino", @@ -128,7 +128,7 @@ "${workspaceFolder}/flix/parameters.ino", "${workspaceFolder}/flix/safety.ino" ], - "compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2511/bin/xtensa-esp32-elf-g++.exe", + "compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++.exe", "cStandard": "c11", "cppStandard": "c++17", "defines": [ diff --git a/Makefile b/Makefile index cebf864..c7ea9c2 100644 --- a/Makefile +++ b/Makefile @@ -15,7 +15,7 @@ monitor: dependencies .dependencies: arduino-cli core update-index --config-file arduino-cli.yaml - arduino-cli core install esp32:esp32@3.3.6 --config-file arduino-cli.yaml + arduino-cli core install esp32:esp32@3.3.10 --config-file arduino-cli.yaml arduino-cli lib update-index arduino-cli lib install "FlixPeriph" arduino-cli lib install "MAVLink"@2.0.25 diff --git a/docs/usage.md b/docs/usage.md index 46e9d82..04e765f 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -20,7 +20,7 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b 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 3.3.6. 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. +3. Install ESP32 core, version 3.3.10. 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 2.0.25. From 0f2e384ce60768cb44ea225a522e9231277da264 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jun 2026 02:12:27 +0300 Subject: [PATCH 110/154] Don't apply level correction on idle thrust --- flix/estimate.ino | 1 + 1 file changed, 1 insertion(+) diff --git a/flix/estimate.ino b/flix/estimate.ino index e66cf38..3303da9 100644 --- a/flix/estimate.ino +++ b/flix/estimate.ino @@ -47,6 +47,7 @@ void applyAcc() { void applyLevel() { if (landed) return; + if (thrustTarget < 0.1) return; // skip at idle thrust // assume the pilot keeps the drone more or less level in flight Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude); From 71abe1bcdb861eb13b3f484b5a86c45665b2f99b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jun 2026 02:25:20 +0300 Subject: [PATCH 111/154] Minor changes Simplify the code, print imu temperature --- docs/usage.md | 3 +++ flix/control.ino | 1 + flix/estimate.ino | 3 +-- flix/imu.ino | 1 + flix/power.ino | 1 + 5 files changed, 7 insertions(+), 2 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 04e765f..540c521 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -89,6 +89,9 @@ QGroundControl is a ground control station software that can be used to monitor 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. +> [!TIP] +> If QGroundControl doesn't connect, try to disable the firewall and/or VPN on your computer, as they may block the connection. + ### 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)**. diff --git a/flix/control.ino b/flix/control.ino index aa7edb6..2b7e3ca 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -149,6 +149,7 @@ void controlTorque() { motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z; motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z; + // Prioritize angle control over thrust control desaturate(motors[MOTOR_FRONT_LEFT], motors[MOTOR_FRONT_RIGHT], motors[MOTOR_REAR_LEFT], motors[MOTOR_REAR_RIGHT]); motors[0] = constrain(motors[0], 0, 1); diff --git a/flix/estimate.ino b/flix/estimate.ino index 3303da9..75c2ec6 100644 --- a/flix/estimate.ino +++ b/flix/estimate.ino @@ -32,8 +32,7 @@ void applyGyro() { void applyAcc() { // test should we apply accelerometer gravity correction - float accNorm = acc.norm(); - landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f; + landed = !motorsActive() && abs(acc.norm() - ONE_G) < ONE_G * 0.1f; if (!landed) return; diff --git a/flix/imu.ino b/flix/imu.ino index 0b0e97f..b6a84b5 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -125,6 +125,7 @@ void printIMUInfo() { print("model: %s\n", imu.getModel()); print("who am I: 0x%02X\n", imu.whoAmI()); print("rate: %.0f\n", loopRate); + print("temperature: %.1f °C\n", imu.getTemp()); print("gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z); print("acc: %f %f %f\n", acc.x, acc.y, acc.z); imu.waitForData(); diff --git a/flix/power.ino b/flix/power.ino index a6df104..b79a898 100644 --- a/flix/power.ino +++ b/flix/power.ino @@ -20,6 +20,7 @@ void setupPower() { void readVoltage() { if (voltagePin < 0) return; + static Rate rate(10); if (!rate) return; From e51b47b798e3a110f893b7212cc0d7690af9f2ec Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jun 2026 02:44:09 +0300 Subject: [PATCH 112/154] Add command for setting the wifi mode easier --- flix/cli.ino | 11 +++++++---- flix/wifi.ino | 17 +++++++++++++++++ gazebo/flix.h | 1 + 3 files changed, 25 insertions(+), 4 deletions(-) diff --git a/flix/cli.ino b/flix/cli.ino index ed87692..858e7ac 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -45,9 +45,10 @@ const char* motd = "cr - calibrate RC\n" "pw - show power info\n" "wifi - show Wi-Fi info\n" -"ap - setup Wi-Fi access point\n" -"sta - setup Wi-Fi client mode\n" -"espnow [] - setup ESP-NOW peer\n" +"wifi ap/sta/espnow/off - set Wi-Fi mode\n" +"ap - configure Wi-Fi access point\n" +"sta - configure Wi-Fi client mode\n" +"espnow [] - configure ESP-NOW peer\n" "mot - show motor output\n" "log [dump] - print log header [and data]\n" "mfr, mfl, mrr, mrl - test motor (remove props)\n" @@ -139,8 +140,10 @@ void doCommand(String str, bool echo = false) { print("armed: %d\n", armed); } else if (command == "pw") { print("Voltage: %.1f V\n", voltage); - } else if (command == "wifi") { + } else if (command == "wifi" && arg0 == "") { printWiFiInfo(); + } else if (command == "wifi") { + setWiFiMode(arg0); } else if (command == "ap") { configWiFi(W_AP, arg0.c_str(), arg1.c_str()); } else if (command == "sta") { diff --git a/flix/wifi.ino b/flix/wifi.ino index ccdf0fa..8d45ca2 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -132,3 +132,20 @@ void configWiFi(int mode, const char *first, const char *second) { } print("✓ Reboot to apply new settings\n"); } + +void setWiFiMode(const String& mode) { + if (mode == "ap") { + wifiMode = W_AP; + } else if (mode == "sta") { + wifiMode = W_STA; + } else if (mode == "espnow") { + wifiMode = W_ESPNOW; + } else if (mode == "off") { + wifiMode = W_DISABLED; + } else { + print("Invalid Wi-Fi mode\n"); + return; + } + static const char *modes[] = {"Disabled", "Access Point (AP)", "Client (STA)", "ESP-NOW"}; + print("✓ Wi-Fi mode set to %s, reboot to apply\n", modes[wifiMode]); +} diff --git a/gazebo/flix.h b/gazebo/flix.h index 8c3f1c3..e0ba9ab 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -79,3 +79,4 @@ void printIMUCalibration() { print("cal: N/A\n"); }; void printIMUInfo() {}; void printWiFiInfo() {}; void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); }; +void setWiFiMode(const String& mode) { print("Skip WiFi mode set\n"); }; From b4c2fe3988051db040339415d2bf20b5ea31a44a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jun 2026 02:49:39 +0300 Subject: [PATCH 113/154] Print total RAM in sys command --- flix/cli.ino | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/flix/cli.ino b/flix/cli.ino index 858e7ac..9eaa12c 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -172,7 +172,8 @@ void doCommand(String str, bool echo = false) { #ifdef ESP32 print("Chip: %s\n", ESP.getChipModel()); print("Temperature: %.1f °C\n", temperatureRead()); - print("Free heap: %d\n", ESP.getFreeHeap()); + print("Total RAM: %d KB\n", ESP.getHeapSize() / 1024); + print("Free heap: %d KB\n", ESP.getFreeHeap() / 1024); print("Firmware: " __DATE__ " " __TIME__ "\n"); // Print tasks table print("Num Task MinSt Prio Core CPU%%\n"); From 0ca2473655f599fb311c1a30be2e45d10af1c46e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jun 2026 02:59:10 +0300 Subject: [PATCH 114/154] Make each mavlink message rate configured separately Add parameters: * MAV_RATE_ATT - ATTITUDE_QUATERNION rate. * MAV_RATE_RC - RC_CHANNELS_RAW rate. * MAV_RATE_MOT - ACTUATOR_CONTROL_TARGET rate. * MAV_RATE_IMU - SCALED_IMU rate. --- flix/mavlink.ino | 24 +++++++++++++++++++----- flix/parameters.ino | 5 ++++- flix/util.h | 3 +++ 3 files changed, 26 insertions(+), 6 deletions(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index bb9bc71..d73203b 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -10,8 +10,12 @@ extern float controlTime; extern float voltage; int mavlinkSysId = 1; -Rate telemetryFast(10); + Rate telemetrySlow(2); +Rate telemetryAttitude(20); +Rate telemetryRC(10); +Rate telemetryMotors(10); +Rate telemetryIMU(15); bool mavlinkConnected = false; String mavlinkPrintBuffer; @@ -34,36 +38,46 @@ void sendMavlink() { ((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED), mode, MAV_STATE_STANDBY); sendMessage(&msg); + } - if (!mavlinkConnected) return; // send only heartbeat until connected + if (!mavlinkConnected) return; // send only heartbeat until connected + if (telemetrySlow) { mavlink_msg_extended_sys_state_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_VTOL_STATE_UNDEFINED, landed ? MAV_LANDED_STATE_ON_GROUND : MAV_LANDED_STATE_IN_AIR); sendMessage(&msg); + } + if (telemetrySlow && valid(voltage)) { uint16_t voltages[] = {(uint16_t)(voltage * 1000), UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX, UINT16_MAX}; uint16_t voltagesExt[] = {0, 0, 0, 0}; float remaining = constrain(mapf(voltage, 3.4, 4.2, 0, 1), 0, 1); mavlink_msg_battery_status_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, 0, MAV_BATTERY_FUNCTION_ALL, MAV_BATTERY_TYPE_LIPO, INT16_MAX, voltages, -1, -1, -1, remaining * 100, 0, MAV_BATTERY_CHARGE_STATE_OK, voltagesExt, 0, 0); - if (valid(voltage)) sendMessage(&msg); + sendMessage(&msg); } - if (telemetryFast && mavlinkConnected) { + if (telemetryAttitude) { const float offset[] = {0, 0, 0, 0}; mavlink_msg_attitude_quaternion_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, offset); // convert to frd sendMessage(&msg); + } + if (telemetryRC && channels[0]) { // 0 means no RC input mavlink_msg_rc_channels_raw_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0, channels[0], channels[1], channels[2], channels[3], channels[4], channels[5], channels[6], channels[7], UINT8_MAX); - if (channels[0] != 0) sendMessage(&msg); // 0 means no RC input + sendMessage(&msg); + } + if (telemetryMotors) { float controls[8]; memcpy(controls, motors, sizeof(motors)); mavlink_msg_actuator_control_target_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0, controls); sendMessage(&msg); + } + if (telemetryIMU) { mavlink_msg_scaled_imu_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, time, acc.x / ONE_G * 1000, -acc.y / ONE_G * 1000, -acc.z / ONE_G * 1000, // convert to frd gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000, diff --git a/flix/parameters.ino b/flix/parameters.ino index 65f3e89..57c53df 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -116,7 +116,10 @@ Parameter parameters[] = { // mavlink {"MAV_SYS_ID", &mavlinkSysId}, {"MAV_RATE_SLOW", &telemetrySlow.rate}, - {"MAV_RATE_FAST", &telemetryFast.rate}, + {"MAV_RATE_ATT", &telemetryAttitude.rate}, + {"MAV_RATE_RC", &telemetryRC.rate}, + {"MAV_RATE_MOT", &telemetryMotors.rate}, + {"MAV_RATE_IMU", &telemetryIMU.rate}, // power {"PWR_VOLT_PIN", &voltagePin, setupPower}, {"PWR_VOLT_SCALE", &voltageScale}, diff --git a/flix/util.h b/flix/util.h index f721f4a..5440848 100644 --- a/flix/util.h +++ b/flix/util.h @@ -65,6 +65,9 @@ public: Rate(float rate) : rate(rate) {} operator bool() { + if (t == last) { + return true; // the same step + } if (t - last >= 1 / rate) { last = t; return true; From 52b74afba6f12f2462645189a6cdb6fee35677a4 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jun 2026 03:23:30 +0300 Subject: [PATCH 115/154] Bring back espnow tx buffering keeping resends disabled Buffering is needed for sending large prints, otherwise the espnow internal buffer overflows. Make onSent always think there was success send, so there won't be any resends. Print lost espnow packets count on wifi console command. --- flix/util.h | 9 +++++---- flix/wifi.ino | 1 + 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/flix/util.h b/flix/util.h index 5440848..aa9e705 100644 --- a/flix/util.h +++ b/flix/util.h @@ -47,13 +47,14 @@ void splitString(String& str, String& token0, String& token1, String& token2) { if (token2.c_str() == NULL) token2 = ""; } -// Simplified ESP-NOW Serial without tx buffering and resends +// Simplified ESP-NOW Serial without resends class ESPNOWSerial : public ESP_NOW_Serial_Class { public: + int lost = 0; using ESP_NOW_Serial_Class::ESP_NOW_Serial_Class; - void onSent(bool success) override {} // disable resends - size_t write(const uint8_t *data, size_t len) override { - return ESP_NOW_Peer::send(data, len); // pure send without buffering + void onSent(bool success) override { + if (!success) lost++; + ESP_NOW_Serial_Class::onSent(true); // always report success to avoid resends } }; diff --git a/flix/wifi.ino b/flix/wifi.ino index 8d45ca2..eea9d8a 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -90,6 +90,7 @@ void printWiFiInfo() { print("Peer MAC: %s\n", MacAddress(espnow.addr()).toString().c_str()); print("Encrypted: %d\n", espnow.isEncrypted()); print("Channel: %d\n", espnow.getChannel()); + print("Lost packets: %d\n", espnow.lost); } else if (WiFi.getMode() == WIFI_MODE_AP) { print("Mode: Access Point (AP)\n"); print("MAC: %s\n", WiFi.softAPmacAddress().c_str()); From 8e2ffd7c6977fa1b3d1628167ebd84e867567271 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 10 Jun 2026 18:10:42 +0300 Subject: [PATCH 116/154] Remove core installation when running the sim Split `dependencies` target to `core` and `libs` targets. Move additional urls declaration and connection timeout from arduino-cli.yaml to Makefile for simplicity and transparency. Update ESP32 core url. Remove arduino-cli.yaml. --- .gitignore | 3 ++- Makefile | 23 ++++++++++++++--------- arduino-cli.yaml | 5 ----- 3 files changed, 16 insertions(+), 15 deletions(-) delete mode 100644 arduino-cli.yaml diff --git a/.gitignore b/.gitignore index 8c71511..cd744a8 100644 --- a/.gitignore +++ b/.gitignore @@ -4,7 +4,8 @@ build/ tools/log/ tools/dist/ *.egg-info/ -.dependencies +.core +.libs .vscode/* !.vscode/settings.json !.vscode/c_cpp_properties.json diff --git a/Makefile b/Makefile index c7ea9c2..b2b38b4 100644 --- a/Makefile +++ b/Makefile @@ -1,7 +1,9 @@ BOARD = esp32:esp32:d1_mini32:DebugLevel=error PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*)) -build: .dependencies +export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h + +build: .core .libs arduino-cli compile --fqbn $(BOARD) flix upload: build @@ -13,15 +15,18 @@ erase: monitor: arduino-cli monitor -p "$(PORT)" -c baudrate=115200 -dependencies .dependencies: - arduino-cli core update-index --config-file arduino-cli.yaml - arduino-cli core install esp32:esp32@3.3.10 --config-file arduino-cli.yaml +core .core: + arduino-cli core update-index --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json + arduino-cli core install esp32:esp32@3.3.10 --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json + touch .core + +libs .libs: arduino-cli lib update-index arduino-cli lib install "FlixPeriph" arduino-cli lib install "MAVLink"@2.0.25 - touch .dependencies + touch .libs -upload_proxy: .dependencies +upload_proxy: .core .libs arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy @@ -29,7 +34,7 @@ gazebo/build cmake: gazebo/CMakeLists.txt mkdir -p gazebo/build cd gazebo/build && cmake .. -build_simulator: .dependencies gazebo/build +build_simulator: .libs gazebo/build make -C gazebo/build simulator: build_simulator @@ -44,6 +49,6 @@ plot: plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1) clean: - rm -rf gazebo/build flix/build flix/cache .dependencies + rm -rf gazebo/build flix/build flix/cache .core .libs -.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean +.PHONY: build upload monitor core libs cmake build_simulator simulator log clean diff --git a/arduino-cli.yaml b/arduino-cli.yaml deleted file mode 100644 index 293fd73..0000000 --- a/arduino-cli.yaml +++ /dev/null @@ -1,5 +0,0 @@ -board_manager: - additional_urls: - - https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json -network: - connection_timeout: 1h From 17df1c53961b0f2fd07030701ab556c2d1e08f54 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 11 Jun 2026 20:37:35 +0300 Subject: [PATCH 117/154] Separate repository vscode settings and local vscode settings Use dangmai.workspace-default-settings externsion for that. --- .gitignore | 2 +- .vscode/extensions.json | 1 + .vscode/{settings.json => settings.default.json} | 0 3 files changed, 2 insertions(+), 1 deletion(-) rename .vscode/{settings.json => settings.default.json} (100%) diff --git a/.gitignore b/.gitignore index cd744a8..64cd6f3 100644 --- a/.gitignore +++ b/.gitignore @@ -7,7 +7,7 @@ tools/dist/ .core .libs .vscode/* -!.vscode/settings.json +!.vscode/settings.default.json !.vscode/c_cpp_properties.json !.vscode/tasks.json !.vscode/launch.json diff --git a/.vscode/extensions.json b/.vscode/extensions.json index c325fd8..d7d845c 100644 --- a/.vscode/extensions.json +++ b/.vscode/extensions.json @@ -1,6 +1,7 @@ { // See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations. "recommendations": [ + "dangmai.workspace-default-settings", "ms-vscode.cpptools", "ms-vscode.cmake-tools", "ms-python.python" diff --git a/.vscode/settings.json b/.vscode/settings.default.json similarity index 100% rename from .vscode/settings.json rename to .vscode/settings.default.json From 518abf15550d2de9ea1db5468d7e7668417139da Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 14 Jun 2026 04:45:42 +0300 Subject: [PATCH 118/154] Simplify rc code Utilize the new method for getting channel values. --- flix/rc.ino | 14 ++++++-------- gazebo/SBUS.h | 9 ++++----- 2 files changed, 10 insertions(+), 13 deletions(-) diff --git a/flix/rc.ino b/flix/rc.ino index 8332e2d..ec02a30 100644 --- a/flix/rc.ino +++ b/flix/rc.ino @@ -27,14 +27,12 @@ void setupRC() { bool readRC() { if (rcRxPin < 0) return false; - if (rc.read()) { - SBUSData data = rc.data(); - for (int i = 0; i < 16; i++) channels[i] = data.ch[i]; // copy channels data - normalizeRC(); - controlTime = t; - return true; - } - return false; + if (!rc.read()) return false; + + rc.getChannels(channels); + normalizeRC(); + controlTime = t; + return true; } void normalizeRC() { diff --git a/gazebo/SBUS.h b/gazebo/SBUS.h index 11161d7..d28dd3e 100644 --- a/gazebo/SBUS.h +++ b/gazebo/SBUS.h @@ -15,12 +15,11 @@ public: SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {}; void begin(int rxpin = -1, int txpin = -1, bool inv = true, bool fast = false) {}; bool read() { return joystickInit(); }; - SBUSData data() { - SBUSData data; - joystickGet(data.ch); + void getChannels(uint16_t (&channels)[16]) const { + int16_t ch[16]; + joystickGet(ch); for (int i = 0; i < 16; i++) { - data.ch[i] = map(data.ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style + channels[i] = map(ch[i], -32768, 32767, 1000, 2000); // convert to pulse width style } - return data; }; }; From 545eed89443c40f9a8ed52f882097f67dfa1fce9 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 19 Jun 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zA1qcfGA3M{mSxY#hI=*zSZbW(?e&+wSKOO0ihW(1uXzx!rDDsFznC5x>K@@sse0DX-R{7=b|oJ zPA`~+%@447Hy_@`4&=rfez7;!1`s~|Uj}w-xx~*95ab$Lk|dR>1)rE z{<*%y+9k{&eI)P4drDqjQQ?fr9@CcXkACkWoM5b(pFP3-`%-%k1jQqpW7gmnb3gY) z4!LOK)XKA@6ni$Sdu3Ku`b)?@&)gYh-F7a!`_bp%-;%y#ssid1uJj(2@Ns)>0_e!^V42_S`bCRb^E1MttW!6R2D!nARL#PjheR|*nd-z2k0>xbK@%4W72D(vSdsOM< z?Jq`rI@WaOK`xVHc36-`Nw^k4^?0kokI5EgbL$BqIB2r*r21@?qq9=5`H(cIC`_rxZQs>9Nhj>LTgkL#n8YE_Pok_wI%-s zzNt5O^ysD7>zB@&T<<^26%fTpKmYg3u`3cb@<%k!du?pa-9kyM9kCCqz7+b z8VkaCa zI*5{RtwmLV8^bPWE_}o%B^76`7oEJOdCD2>HA0VsYQgz}?0AluUoVG(g$$vzQ zZ!p5{>(t>YLyr^>a7=pl?ovP0qwl} zHn#0&Q^h^;A6aAG*HSVY?&^I%lg%+ql7>&r>xD@-&74c(6K*_*?g|QfE=ajp8}OI; OOpv}U$YLk{JM}-T!|;;; literal 0 HcmV?d00001 diff --git a/docs/user.md b/docs/user.md index 8156157..2752327 100644 --- a/docs/user.md +++ b/docs/user.md @@ -4,6 +4,28 @@ This page contains user-built drones based on the Flix project. Publish your pro --- +Author: [Неруш Михаил](https://t.me/NerushMV).
+Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output). + + + +[Flight video](https://drive.google.com/file/d/1jRXeGx34lJpUfw0GKLQeIzkWZvooQJSE/view?usp=sharing). + +--- + +Author: [Konstantinos Paraskevas](https://github.com/Frapais).
+Description: drone with a custom single-boarded airframe, extending the [Sprig-C3 module](https://github.com/Frapais/Sprig-C3). +ESP32-C3 microcontroller, ICM-20948 IMU, on-board fuel-gauge, status LED indicator.
+Repository with all the code and PCB sources: https://github.com/Frapais/Sprig-Drone. + + + +Detailed video about making the drone: + +
+ +--- + Author: [Awab Anas](http://t.me/AW_VENOM).
Description: ESP32 D1 Mini, MPU-6050, 8520 3.7V brushed motors, 55 mm propellers, battery li-po 1200 mAh, controlling via [Mavlink Joystick app](https://github.com/goldarte/mavlink-joystick/releases/latest).
[Flight validation](https://drive.google.com/file/d/12z0jfctZDBA6b5UKCG0Uje5rAxj6DhF-/view?usp=sharing). From 64b21a3a6bf23be4deb255e22230b303fd351cb7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 24 Jun 2026 06:42:09 +0300 Subject: [PATCH 120/154] Show default parameter values in `p` command output Also move float comparing logic to a distinct util function. --- flix/parameters.ino | 13 ++++++++++--- flix/util.h | 6 ++++++ 2 files changed, 16 insertions(+), 3 deletions(-) diff --git a/flix/parameters.ino b/flix/parameters.ino index 57c53df..973fde0 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -20,6 +20,7 @@ struct Parameter { const char *name; // max length is 15 bool integer; union { float *f; int *i; }; // pointer to the variable + float inital; // default value float cache; // what's stored in flash void (*callback)(); // called after parameter change Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {}; @@ -137,6 +138,7 @@ void setupParameters() { if (!storage.isKey(parameter.name)) { storage.putFloat(parameter.name, parameter.getValue()); // store default value } + parameter.inital = parameter.getValue(); parameter.setValue(storage.getFloat(parameter.name, 0)); parameter.cache = parameter.getValue(); } @@ -183,8 +185,7 @@ void syncParameters() { if (motorsActive()) return; // don't use flash while flying, it may cause a delay for (auto ¶meter : parameters) { - if (parameter.getValue() == parameter.cache) continue; // no change - if (isnan(parameter.getValue()) && isnan(parameter.cache)) continue; // both are NAN + if (floatEquals(parameter.getValue(), parameter.cache)) continue; // no change storage.putFloat(parameter.name, parameter.getValue()); parameter.cache = parameter.getValue(); // update cache @@ -192,9 +193,15 @@ void syncParameters() { } void printParameters(const char *filter) { + print("Name Value [Default]\n"); for (auto ¶meter : parameters) { if (strncasecmp(parameter.name, filter, strlen(filter))) continue; - print("%s = %g\n", parameter.name, parameter.getValue()); + + if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed + print("%-15s %-13g\n", parameter.name, parameter.getValue()); + } else { + print("%-15s %-13g [%g]\n", parameter.name, parameter.getValue(), parameter.inital); + } } } diff --git a/flix/util.h b/flix/util.h index aa9e705..4db65a4 100644 --- a/flix/util.h +++ b/flix/util.h @@ -23,6 +23,12 @@ bool valid(float x) { return isfinite(x); } +bool floatEquals(float a, float b, float epsilon = 0) { + if (isnan(a) && isnan(b)) return true; + if (a == b) return true; + return fabsf(a - b) <= epsilon; +} + // Wrap angle to [-PI, PI) float wrapAngle(float angle) { angle = fmodf(angle, 2 * PI); From 9d439afd8089b51167097523aa5f8aee036d067f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 28 Jun 2026 17:21:07 +0300 Subject: [PATCH 121/154] Store only changed parameters in flash instead of all Rationale: 1. Parameters NVS storage is limited and storing unchanged parameters is wasteful. 2. This allows changing parameters in the code without having to erase the flash storage. 3. Updating the firmware version may change the parameter defaults. --- flix/parameters.ino | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/flix/parameters.ino b/flix/parameters.ino index 973fde0..0d3e19a 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -135,11 +135,10 @@ void setupParameters() { storage.begin("flix"); // Read parameters from storage for (auto ¶meter : parameters) { - if (!storage.isKey(parameter.name)) { - storage.putFloat(parameter.name, parameter.getValue()); // store default value - } parameter.inital = parameter.getValue(); - parameter.setValue(storage.getFloat(parameter.name, 0)); + if (storage.isKey(parameter.name)) { + parameter.setValue(storage.getFloat(parameter.name)); + } parameter.cache = parameter.getValue(); } } From 26a0dd65bebde5061c75ae6307eaae2e885f811a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 30 Jun 2026 12:19:29 +0300 Subject: [PATCH 122/154] Minor fixes and updates --- docs/user.md | 3 ++- flix/flix.ino | 2 +- flix/motors.ino | 3 +-- tools/pyflix/README.md | 7 +++++++ 4 files changed, 11 insertions(+), 4 deletions(-) diff --git a/docs/user.md b/docs/user.md index 2752327..a00b137 100644 --- a/docs/user.md +++ b/docs/user.md @@ -5,7 +5,8 @@ This page contains user-built drones based on the Flix project. Publish your pro --- Author: [Неруш Михаил](https://t.me/NerushMV).
-Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output). +Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output).
+Sources and materials: [link](https://drive.google.com/drive/folders/1uWiDcuorLrtVs_IIR7Y13omij-7Q1nx8). diff --git a/flix/flix.ino b/flix/flix.ino index 16b62aa..615664b 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -17,7 +17,7 @@ extern float motors[4]; void setup() { Serial.begin(115200); - print("Initializing flix\n"); + print("Initializing Flix\n"); setupParameters(); setupPower(); setupLED(); diff --git a/flix/motors.ino b/flix/motors.ino index 1540ac4..9654eec 100644 --- a/flix/motors.ino +++ b/flix/motors.ino @@ -17,7 +17,7 @@ int pwmMax = -1; // -1 means duty cycle mode const int MOTOR_REAR_LEFT = 0, MOTOR_REAR_RIGHT = 1, MOTOR_FRONT_RIGHT = 2, MOTOR_FRONT_LEFT = 3; void setupMotors() { - print("Setup Motors\n"); + print("Setup motors\n"); // Configure pins for (int i = 0; i < 4; i++) { if (motorPins[i] < 0) continue; // skip unassigned motors @@ -25,7 +25,6 @@ void setupMotors() { pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring } sendMotors(); - print("Motors initialized\n"); } void sendMotors() { diff --git a/tools/pyflix/README.md b/tools/pyflix/README.md index 138878f..b5b61d8 100644 --- a/tools/pyflix/README.md +++ b/tools/pyflix/README.md @@ -222,6 +222,13 @@ The following scripts demonstrate how to use the library: * [`log.py`](../log.py) — download flight logs from the drone. * [`example.py`](../example.py) — a simple example, prints telemetry data and waits for events. +> [!TIP] +> Set `FLIX_DEVICE` environment variable to use these tools with ESP-NOW connection, for example: +> +> ```bash +> FLIX_DEVICE=/dev/cu.usbserial-0001 tools/cli.py +> ``` + ## Advanced usage ### MAVLink From 1ae85ff11810928a1ab0367e51ceafe60ec2a751 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 2 Jul 2026 22:22:33 +0300 Subject: [PATCH 123/154] Add argument to motor testing commands for specifying thrust --- flix/cli.ino | 10 +++++----- flix/motors.ino | 4 ++-- gazebo/flix.h | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/flix/cli.ino b/flix/cli.ino index 9eaa12c..4926243 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -51,7 +51,7 @@ const char* motd = "espnow [] - configure ESP-NOW peer\n" "mot - show motor output\n" "log [dump] - print log header [and data]\n" -"mfr, mfl, mrr, mrl - test motor (remove props)\n" +"mfr/mfl/mrr/mrl [] - test motor (remove props)\n" "sys - show system info\n" "reset - reset drone's state\n" "reboot - reboot the drone\n"; @@ -161,13 +161,13 @@ void doCommand(String str, bool echo = false) { } else if (command == "ca") { calibrateAccel(); } else if (command == "mfr") { - testMotor(MOTOR_FRONT_RIGHT); + testMotor(MOTOR_FRONT_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat()); } else if (command == "mfl") { - testMotor(MOTOR_FRONT_LEFT); + testMotor(MOTOR_FRONT_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat()); } else if (command == "mrr") { - testMotor(MOTOR_REAR_RIGHT); + testMotor(MOTOR_REAR_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat()); } else if (command == "mrl") { - testMotor(MOTOR_REAR_LEFT); + testMotor(MOTOR_REAR_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat()); } else if (command == "sys") { #ifdef ESP32 print("Chip: %s\n", ESP.getChipModel()); diff --git a/flix/motors.ino b/flix/motors.ino index 9654eec..6b808b1 100644 --- a/flix/motors.ino +++ b/flix/motors.ino @@ -51,9 +51,9 @@ bool motorsActive() { return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0; } -void testMotor(int n) { +void testMotor(int n, float thrust) { print("Testing motor %d\n", n); - motors[n] = 0.2; + motors[n] = thrust; delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306 sendMotors(); pause(3); diff --git a/gazebo/flix.h b/gazebo/flix.h index e0ba9ab..a6f36fb 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -38,7 +38,7 @@ const char* getModeName(); void sendMotors(); int getDutyCycle(float value); bool motorsActive(); -void testMotor(int n); +void testMotor(int, float); void print(const char* format, ...); void pause(float duration); void doCommand(String str, bool echo); From fabd5e072d8c75d17e125207486f8a311eb0d353 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 4 Jul 2026 21:40:39 +0300 Subject: [PATCH 124/154] Fixes in the docs --- README.md | 2 +- docs/usage.md | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index caed4e8..8d277c7 100644 --- a/README.md +++ b/README.md @@ -84,7 +84,7 @@ Additional articles: |*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 or 65 mm||4| -|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)||4| +|MOSFET (transistor)|UMW 100N03A or [analog](https://t.me/opensourcequadcopter/33).
Warning: don't use KIA 100N03A or other manufacturers, they might not work!||4| |Pull-down resistor
Voltage measurement resistor|10 kΩ||6| |3.7V Li-Po battery|LW 952540 (or any compatible by the size).
Make sure the battery has enough discharge rate — 25C or more!||1| |Battery connector cable|MX2.0 2P female||1| diff --git a/docs/usage.md b/docs/usage.md index 540c521..35f4a67 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -198,7 +198,7 @@ After this setup, you should see the battery voltage in QGroundControl top panel ## 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). +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/ESP-NOW). ### Control with a smartphone @@ -243,7 +243,7 @@ If your drone doesn't have RC receiver installed, you can use USB remote control 3. Power up the drone. 4. Connect your computer to the appeared `flix` Wi-Fi network (password: `flixwifi`). 5. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically. -6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there. +6. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate your USB remote control there. 7. Use the USB remote control to fly the drone! ## Flight @@ -339,7 +339,7 @@ To setup ESP-NOW communication: espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E ``` - Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) io 6 (encrypted). + Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) or 6 (encrypted). 3. Set the `WIFI_MODE` parameter to `3` on the drone: @@ -356,7 +356,7 @@ To setup ESP-NOW communication: ## Flight log -After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that: +After the flight, you can download the flight log wirelessly for analysis. Use the following command on your computer for that: ```bash make log From d64bf24c6d1b18e7b9ef7093c395ac176568118c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 8 Jul 2026 22:29:33 +0300 Subject: [PATCH 125/154] Add alicanerus' build --- docs/img/user/alicanerus/1.jpg | Bin 0 -> 61025 bytes docs/img/user/alicanerus/2.jpg | Bin 0 -> 52939 bytes docs/img/user/alicanerus/3.jpg | Bin 0 -> 57626 bytes docs/user.md | 9 +++++++++ 4 files changed, 9 insertions(+) create mode 100644 docs/img/user/alicanerus/1.jpg create mode 100644 docs/img/user/alicanerus/2.jpg create mode 100644 docs/img/user/alicanerus/3.jpg diff --git a/docs/img/user/alicanerus/1.jpg b/docs/img/user/alicanerus/1.jpg new file mode 100644 index 0000000000000000000000000000000000000000..4a243553ec51c078f7e636e046191d7f1b6e2449 GIT binary patch literal 61025 zcmeFZcUV(P*Ec*V^nf80DT)cb6ChLp1EKdO0wU50NRuWYcmmP|gh=mA1Vp7Nb^%d( zx1m_+iWSs@;_;o>&i%dD^IX^W-}lFNZ?gCPWoFIHnzh!Ry=KjX?+?B|16XroGh={2 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zROIP=E7_%9zy!#NO<-;$0*o=9i27#vDEe;>PKoWzY!opE*&IgHaJl>XAp;sbl;n8f zLl`4S@Jf_N(=;&nWGESAwSMKXz0!;-Urt0(n z7!@ZmN7z8^^{_|@(y%8^dLrU;J7jPNvI;JC?90qi_5s8jO`Wy9A5c03W^qNt_2JjL zi=1rB%#V4Gm~73=k9lrk42Hzq-RNeS$~GnD??FUugJMk2d-UeniBCJvd-U%Bk&Lea Xr4!#ZkNk?$ca#2d{{Zlnf4cwK@MgrG literal 0 HcmV?d00001 diff --git a/docs/user.md b/docs/user.md index a00b137..95a0519 100644 --- a/docs/user.md +++ b/docs/user.md @@ -4,6 +4,15 @@ This page contains user-built drones based on the Flix project. Publish your pro --- +Author: Alican Erüst.
+Description: QX95 mm frame, 55 mm propellers, 3.7 V 25C 1050 mAh LiPo battery, MPU6050 IMU, Logitech F310 gamepad controller, with a total quadcopter weight of 66 g. + + + +[Flight video](https://drive.google.com/file/d/1k0WeWTKnCAfaugkX7LcmNxsUuq79RL8Z/view?usp=sharing). + +--- + Author: [Неруш Михаил](https://t.me/NerushMV).
Description: custom frame made of 4 mm plywood, 8520 brushed motors, 75 mm propellers, MPU-6500. FlySky FS-i6X with ESP32-based adapter for ESP-NOW communication (using PPM output).
Sources and materials: [link](https://drive.google.com/drive/folders/1uWiDcuorLrtVs_IIR7Y13omij-7Q1nx8). From 1cdc7a864181ef58d271b54f625978e1df56df29 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 15 Jul 2026 18:40:35 +0300 Subject: [PATCH 126/154] Fix rc in simulator Virtual rc is disabled if rxRxPin < 0 --- gazebo/simulator.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp index ca2776c..60bf190 100644 --- a/gazebo/simulator.cpp +++ b/gazebo/simulator.cpp @@ -55,6 +55,7 @@ public: initNode(); Serial.begin(0); setupParameters(); + rcRxPin = 1; // set rc pin to enable rc reading gzmsg << "Flix plugin loaded" << endl; } From 8917849711c09f185fd83c9f9eb9d4461acc251a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 15 Jul 2026 18:29:36 +0300 Subject: [PATCH 127/154] Remove unneeded declaration from the sim --- gazebo/flix.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gazebo/flix.h b/gazebo/flix.h index a6f36fb..0cc02c2 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -73,7 +73,6 @@ void resetParameters(); // mocks void setLED(bool on) {}; -void calibrateGyro() { print("Skip gyro calibrating\n"); }; void calibrateAccel() { print("Skip accel calibrating\n"); }; void printIMUCalibration() { print("cal: N/A\n"); }; void printIMUInfo() {}; From fd249fcaa68e6268da6388a464103bc06680a0ec Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 1 Aug 2026 22:33:26 +0300 Subject: [PATCH 128/154] Add position control demo video to the readme --- README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README.md b/README.md index 8d277c7..f1bc75e 100644 --- a/README.md +++ b/README.md @@ -55,6 +55,12 @@ Outdoor flights demo video of the current prototype: +### Position control + +The position control feature is in development. RoboCamp 2026 demo (using an overhead camera, [sources](https://github.com/xTimop/flix-poscontrol/compare/robolager2026...xTimop:flix-poscontrol:poscontrol)): + + + ## Simulation The simulator is implemented using Gazebo and runs the original Arduino code: From 5c811812212b168345ba47fee356761848e1d6f2 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 2 Aug 2026 01:58:16 +0300 Subject: [PATCH 129/154] Add threshold for rc sticks move for quitting auto mode --- flix/safety.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/safety.ino b/flix/safety.ino index 05fd758..7cbd986 100644 --- a/flix/safety.ino +++ b/flix/safety.ino @@ -36,7 +36,7 @@ void descend() { // Allow pilot to interrupt automatic flight void autoFailsafe() { static float roll, pitch, yaw, throttle; - if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) { + if (abs(roll - controlRoll) > 0.05 || abs(pitch - controlPitch) > 0.05 || abs(yaw - controlYaw) > 0.05 || abs(throttle - controlThrottle) > 0.05) { // controls changed and mode switch is not configured if (mode == AUTO && invalid(controlMode)) mode = STAB; // regain control by the pilot } From 38925d788553c41da454736f47b1606a419bd109 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 2 Aug 2026 02:02:28 +0300 Subject: [PATCH 130/154] Updates and fixes in usage article --- docs/usage.md | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 35f4a67..0f26f1e 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -25,7 +25,7 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b * `FlixPeriph`, the latest version. * `MAVLink`, version 2.0.25. 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. +6. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini, *ESP32S3 Dev Module* for ESP32-S3 Super Mini) and the port. 7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console. Set *Tools* ⇒ *USB CDC on Boot* to *Enabled* for ESP32-S3/ESP32-C3 boards. 8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE. @@ -105,7 +105,7 @@ To access the console using serial port: 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*. +2. Go to the QGroundControl menu ⇒ *Analyze Tools* ⇒ *MAVLink Console*. @@ -333,7 +333,7 @@ To setup ESP-NOW communication: 1. Flash the second ESP32 board with ESP-NOW proxy sketch: [`tools/espnow-proxy/espnow-proxy.ino`](../tools/espnow-proxy/espnow-proxy.ino). Use Arduino IDE or command line: `make upload_proxy`. -2. Open Serial Monitor or use `make monitor` command. The ESP32 will print its MAC address and generated encryption key, for example: +2. Open Serial Monitor in Arduino IDE or use `make monitor` command. The ESP32 will print its MAC address and generated encryption key, for example: ``` espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E @@ -352,7 +352,10 @@ To setup ESP-NOW communication: * Type: Serial. * Serial Port: choose the port of the proxy ESP32 board, e. g. `/dev/cu.usbserial-0001`. * Baud Rate: 115200. -5. Click *Save*. QGroundControl should connect to the drone using ESP-NOW and begin showing the telemetry. +5. Click *Save*, click *Connect*. QGroundControl should connect to the drone using ESP-NOW and begin showing the telemetry. + +> [!TIP] +> Make sure Arduino IDE is not running when using ESP-NOW proxy board, as it may block the serial port. ## Flight log From 5ee6d9144041d1ce33e4e3fde51264cfc4f675f1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 2 Aug 2026 02:07:17 +0300 Subject: [PATCH 131/154] Don't send discovery message if encrypting is disabled in espnow --- flix/wifi.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/wifi.ino b/flix/wifi.ino index eea9d8a..f316f83 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -58,7 +58,7 @@ void sendWiFi(const uint8_t *buf, int len) { espnow.write(buf, len); static Rate discovery(2); - if (discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device + if (espnow.isEncrypted() && discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device return; } From 406f7a4af5471ff9f3117b566529c32e261f63d7 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 2 Aug 2026 02:13:50 +0300 Subject: [PATCH 132/154] Add tilt disarm failsafe --- flix/parameters.ino | 3 ++- flix/safety.ino | 14 ++++++++++++++ gazebo/flix.h | 1 + 3 files changed, 17 insertions(+), 1 deletion(-) diff --git a/flix/parameters.ino b/flix/parameters.ino index 0d3e19a..ebabaaf 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -10,7 +10,7 @@ extern int channelZero[16], channelMax[16]; extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern int rcRxPin, voltagePin; extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel; -extern float rcLossTimeout, descendTime; +extern float rcLossTimeout, descendTime, disarmTilt; extern float voltageScale; extern LowPassFilter voltageFilter; @@ -128,6 +128,7 @@ Parameter parameters[] = { // safety {"SF_RC_LOSS_TIME", &rcLossTimeout}, {"SF_DESCEND_TIME", &descendTime}, + {"SF_DISARM_TILT", &disarmTilt}, }; void setupParameters() { diff --git a/flix/safety.ino b/flix/safety.ino index 7cbd986..4e7e9dc 100644 --- a/flix/safety.ino +++ b/flix/safety.ino @@ -8,10 +8,12 @@ extern float controlRoll, controlPitch, controlThrottle, controlYaw; float rcLossTimeout = 1; float descendTime = 10; +float disarmTilt = radians(120); void failsafe() { rcLossFailsafe(); autoFailsafe(); + tiltFailsafe(); } // RC loss failsafe @@ -45,3 +47,15 @@ void autoFailsafe() { yaw = controlYaw; throttle = controlThrottle; } + +// Disarm if tilted too much +void tiltFailsafe() { + if (!armed) return; + if (mode != STAB) return; + + Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude); + float tilt = acos(up.z); + if (disarmTilt && tilt > disarmTilt) { + armed = false; + } +} diff --git a/gazebo/flix.h b/gazebo/flix.h index 0cc02c2..1d88343 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -63,6 +63,7 @@ void failsafe(); void rcLossFailsafe(); void descend(); void autoFailsafe(); +void tiltFailsafe(); int parametersCount(); const char *getParameterName(int index); float getParameter(int index); From a5991930d1899ab4e03202668f5e9a6f12abedcb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 3 Aug 2026 15:57:29 +0300 Subject: [PATCH 133/154] Disable voltage lpf by default Filtering does more harm than good in voltage monitoring. (alpha = 1 efficiently disables the filter.) --- flix/power.ino | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/power.ino b/flix/power.ino index b79a898..93e3038 100644 --- a/flix/power.ino +++ b/flix/power.ino @@ -9,7 +9,7 @@ #include "util.h" float voltage = NAN; -LowPassFilter voltageFilter(0.2); +LowPassFilter voltageFilter(1); int voltagePin = -1; float voltageScale = 2; From 8e276bde38ad97043f0923684f434caddc4816c8 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 4 Aug 2026 22:48:39 +0300 Subject: [PATCH 134/154] Add Oleg1405 build --- docs/img/user/oleg1405/1.jpg | Bin 0 -> 51309 bytes docs/user.md | 9 +++++++++ 2 files changed, 9 insertions(+) create mode 100644 docs/img/user/oleg1405/1.jpg diff --git a/docs/img/user/oleg1405/1.jpg b/docs/img/user/oleg1405/1.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c19de1a3a63a0e93356a07186ae5b057be62c00f GIT binary patch literal 51309 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Publish your pro --- +Author: [Oleg1405](https://t.me/Oleg1405).
+Description: ESP32 Mini, MPU-6500 IMU, boost converter, BT2.0 power connector, 65 mm props, BetaFPV ELRS Lite Receiver, Radiomaster Pocket + Mavlink Joystick (Android) control. + + + +[Flight video](https://www.youtube.com/shorts/rbXV4sHbpso). + +--- + Author: Alican Erüst.
Description: QX95 mm frame, 55 mm propellers, 3.7 V 25C 1050 mAh LiPo battery, MPU6050 IMU, Logitech F310 gamepad controller, with a total quadcopter weight of 66 g. From aee43c6548c6a5e2329119f6c6c1a142baba2eca Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 7 Aug 2026 18:24:23 +0300 Subject: [PATCH 135/154] Allow hot reconnection from another gcs over wifi Switch back to udp broadcasting if no messages from gcs for 5 seconds --- flix/mavlink.ino | 6 +++--- flix/wifi.ino | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index d73203b..5b4f023 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -17,7 +17,7 @@ Rate telemetryRC(10); Rate telemetryMotors(10); Rate telemetryIMU(15); -bool mavlinkConnected = false; +float mavlinkTime = NAN; // time of last received message String mavlinkPrintBuffer; void processMavlink() { @@ -40,7 +40,7 @@ void sendMavlink() { sendMessage(&msg); } - if (!mavlinkConnected) return; // send only heartbeat until connected + if (!valid(mavlinkTime)) return; // send only heartbeat until connected if (telemetrySlow) { mavlink_msg_extended_sys_state_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg, @@ -101,7 +101,7 @@ void receiveMavlink() { mavlink_status_t status; for (int i = 0; i < len; i++) { if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status)) { - mavlinkConnected = true; + mavlinkTime = t; handleMavlink(&msg); } } diff --git a/flix/wifi.ino b/flix/wifi.ino index f316f83..253a1a0 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -64,7 +64,7 @@ void sendWiFi(const uint8_t *buf, int len) { if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return; - udp.beginPacket(udpRemoteIP, udpRemotePort); + udp.beginPacket(t - mavlinkTime < 5 ? udpRemoteIP : IPAddress(255, 255, 255, 255), udpRemotePort); // broadcast if lost connection udp.write(buf, len); udp.endPacket(); } @@ -113,7 +113,7 @@ void printWiFiInfo() { } else { print("Mode: Disabled\n"); } - print("MAVLink connected: %d\n", mavlinkConnected); + print("MAVLink connected: %d\n", valid(mavlinkTime)); } void configWiFi(int mode, const char *first, const char *second) { From 070eb8a0de575220ff8b5bff46eb22a4abc6d548 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 8 Aug 2026 01:04:20 +0300 Subject: [PATCH 136/154] Add parameter WIFI_BROADCAST for always broadcasting mode May be used in some cases, like multiple gcs --- flix/parameters.ino | 3 ++- flix/wifi.ino | 4 +++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/flix/parameters.ino b/flix/parameters.ino index ebabaaf..25c74a5 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -9,7 +9,7 @@ extern int channelZero[16], channelMax[16]; extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel; extern int rcRxPin, voltagePin; -extern int wifiMode, wifiLongRange, udpLocalPort, udpRemotePort, espnowChannel; +extern int wifiMode, wifiLongRange, wifiBroadcast, udpLocalPort, udpRemotePort, espnowChannel; extern float rcLossTimeout, descendTime, disarmTilt; extern float voltageScale; extern LowPassFilter voltageFilter; @@ -112,6 +112,7 @@ Parameter parameters[] = { {"WIFI_PORT_LOC", &udpLocalPort}, {"WIFI_PORT_REM", &udpRemotePort}, {"WIFI_LONG_RANGE", &wifiLongRange}, + {"WIFI_BROADCAST", &wifiBroadcast}, // espnow {"ESPNOW_CHANNEL", &espnowChannel}, // mavlink diff --git a/flix/wifi.ino b/flix/wifi.ino index 253a1a0..778e422 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -17,6 +17,7 @@ const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3; int wifiMode = W_AP; int wifiLongRange = 0; +int wifiBroadcast = 0; // 0 - broadcast until connected, 1 - always broadcast int udpLocalPort = 14550; int udpRemotePort = 14550; IPAddress udpRemoteIP = "255.255.255.255"; @@ -64,7 +65,8 @@ void sendWiFi(const uint8_t *buf, int len) { if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return; - udp.beginPacket(t - mavlinkTime < 5 ? udpRemoteIP : IPAddress(255, 255, 255, 255), udpRemotePort); // broadcast if lost connection + bool broadcast = wifiBroadcast || !(t - mavlinkTime < 5); // broadcast if lost connection + udp.beginPacket(broadcast ? IPAddress(255, 255, 255, 255) : udpRemoteIP, udpRemotePort); udp.write(buf, len); udp.endPacket(); } From 3f4577bb2cbf36732d385ec8fe0ee6546ba2578c Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Mon, 10 Aug 2026 02:31:54 +0300 Subject: [PATCH 137/154] Make Rate always trigger on first step --- flix/util.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/util.h b/flix/util.h index 4db65a4..32df03e 100644 --- a/flix/util.h +++ b/flix/util.h @@ -68,7 +68,7 @@ public: class Rate { public: float rate; - float last = 0; + float last = -INFINITY; Rate(float rate) : rate(rate) {} operator bool() { From bfeee7a00aba627dc8e8e73da1efa97593f4996f Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sat, 8 Aug 2026 02:19:28 +0300 Subject: [PATCH 138/154] Use up-to-date method for installing arduino-cli in simulator ci --- .github/workflows/build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index cd50ee2..53b8a00 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -64,7 +64,7 @@ jobs: apt-get update DEBIAN_FRONTEND=noninteractive apt-get install -y curl wget build-essential cmake g++ pkg-config gnupg2 lsb-release sudo - name: Install Arduino CLI - uses: arduino/setup-arduino-cli@v1.1.1 + run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh - uses: actions/checkout@v4 - name: Install Gazebo run: | From 97edb8e65badad79c566e3585b215a9252242f06 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 11 Aug 2026 05:03:56 +0300 Subject: [PATCH 139/154] Minor docs changes --- docs/usage.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 0f26f1e..7186fe8 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -150,7 +150,9 @@ If using non-default motor pins, set the pin numbers using the parameters: `MOTO Certain ESP32 models (such as ESP32-S3 and ESP32-C3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz. -If using brushless motors and ESCs: +#### Brushless motors + +If using brushless motors with ESCs: 1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical). 2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical). @@ -158,7 +160,7 @@ If using brushless motors and 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: From 6c55ab362560b5dc5db5c2224e7dc3ddb96f21de Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 11 Aug 2026 05:15:40 +0300 Subject: [PATCH 140/154] Refactor building Switch to plain esp32 fqbn - it works on d1 as well. Move debug level setting from fqbn to arduino-cli command to simplify things. Add C3 and S3 builds to commit artifacts. --- .github/workflows/build.yml | 14 +++++++------- Makefile | 4 ++-- docs/usage.md | 2 +- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 53b8a00..303e73c 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -10,23 +10,23 @@ on: jobs: build_linux: runs-on: ubuntu-latest + env: + ARDUINO_SKETCH_ALWAYS_EXPORT_BINARIES: 1 steps: - uses: actions/checkout@v4 - name: Install Arduino CLI run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh - - name: Build firmware - env: - ARDUINO_SKETCH_ALWAYS_EXPORT_BINARIES: 1 + - name: Build firmware for ESP32 run: make + - name: Build firmware for ESP32-C3 + run: make BOARD=esp32:esp32:esp32c3 + - name: Build firmware for ESP32-S3 + run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc - name: Upload binaries uses: actions/upload-artifact@v4 with: name: firmware-binary path: flix/build - - name: Build firmware for ESP32-C3 - run: make BOARD=esp32:esp32:esp32c3 - - name: Build firmware for ESP32-S3 - run: make BOARD=esp32:esp32:esp32s3 - name: Check c_cpp_properties.json run: tools/check_c_cpp_properties.py diff --git a/Makefile b/Makefile index b2b38b4..105d2f1 100644 --- a/Makefile +++ b/Makefile @@ -1,10 +1,10 @@ -BOARD = esp32:esp32:d1_mini32:DebugLevel=error +BOARD = esp32:esp32:esp32 PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*)) export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h build: .core .libs - arduino-cli compile --fqbn $(BOARD) flix + arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix upload: build arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix diff --git a/docs/usage.md b/docs/usage.md index 7186fe8..5e7a0a8 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -61,7 +61,7 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://docs.arduino.cc/arduino-cli/FAQ/#whats-the-fqbn-string) using `BOARD` parameter: ```bash - make BOARD=esp32:esp32:esp32s3:DebugLevel=error,FlashSize=4M,CDCOnBoot=cdc upload + make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc upload ``` See other available Make commands in [Makefile](../Makefile). From 2a96f4795d0a6637b4c1989e58102933e6b69bde Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 11 Aug 2026 05:18:06 +0300 Subject: [PATCH 141/154] Add missing parameter for yaw rate windup --- flix/parameters.ino | 1 + 1 file changed, 1 insertion(+) diff --git a/flix/parameters.ino b/flix/parameters.ino index 25c74a5..acac658 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -44,6 +44,7 @@ Parameter parameters[] = { {"CTL_Y_RATE_P", &yawRatePID.p}, {"CTL_Y_RATE_I", &yawRatePID.i}, {"CTL_Y_RATE_D", &yawRatePID.d}, + {"CTL_Y_RATE_WU", &yawRatePID.windup}, {"CTL_Y_RATE_D_A", &yawRatePID.lpf.alpha}, {"CTL_R_P", &rollPID.p}, {"CTL_R_I", &rollPID.i}, From f79c444f0774a2bfeef6eb2f23a749b782a9692a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 11 Aug 2026 05:36:31 +0300 Subject: [PATCH 142/154] Configure imu using parameters instead of editing the source code Choose the model and optionally custom pin numbers. --- docs/usage.md | 20 ++++++++------- flix/imu.ino | 59 ++++++++++++++++++++++++++++++--------------- flix/parameters.ino | 9 +++++++ gazebo/flix.h | 3 +++ 4 files changed, 62 insertions(+), 29 deletions(-) diff --git a/docs/usage.md b/docs/usage.md index 5e7a0a8..c6914c3 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -71,15 +71,6 @@ See other available Make commands in [Makefile](../Makefile). ## 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. @@ -120,6 +111,17 @@ The drone is configured using parameters. To access and modify them, go to the Q You can also work with parameters using `p` command in the console. Parameter names are case-insensitive. +### Configure the IMU + +1. Configure the following parameters for the IMU: + * `IMU_MODEL` — IMU model (1 for MPU-9250/MPU-6500, 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 (should print `status: OK`). + ### Define IMU orientation The IMU orientation (relative to the drone's axes) is defined using the parameters: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`. diff --git a/flix/imu.ino b/flix/imu.ino index b6a84b5..0aafb13 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -4,12 +4,17 @@ // Work with the IMU sensor #include +#include #include #include "vector.h" #include "lpf.h" #include "util.h" -MPU9250 imu(SPI); +IMU *imu; +int imuModel = -1; // 1 - MPU9250, 2 - ICM20948, 3 - MPU6050, 4 - ICM40609D +int imuBus = 0; // 0 - SPI, 1 - I2C +int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = SS, imuIntPin = -1; +int imuSdaPin = SDA, imuSclPin = SCL; Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles Vector gyro; // gyroscope output, rad/s @@ -23,22 +28,35 @@ LowPassFilter gyroBiasFilter(0.001); void setupIMU() { print("Setup IMU\n"); - imu.begin(); + free(imu); + if (imuModel == 3) imuBus = 1; // MPU6050 is I2C only + + if (imuBus == 0) { + // SPI connection + SPI.begin(imuSckPin, imuMisoPin, imuMosiPin); + imu = IMU::create(imuModel, SPI, imuCsPin, imuIntPin); + } else { + // I2C connection + Wire.setPins(imuSdaPin, imuSclPin); + imu = IMU::create(imuModel, Wire, imuIntPin); + } + + imu->begin(); configureIMU(); } void configureIMU() { - imu.setAccelRange(imu.ACCEL_RANGE_4G); - imu.setGyroRange(imu.GYRO_RANGE_2000DPS); - imu.setDLPF(imu.DLPF_MAX); - imu.setRate(imu.RATE_1KHZ_APPROX); - imu.setupInterrupt(); + imu->setAccelRange(IMU::ACCEL_RANGE_4G); + imu->setGyroRange(IMU::GYRO_RANGE_2000DPS); + imu->setDLPF(IMU::DLPF_MAX); + imu->setRate(IMU::RATE_1KHZ_APPROX); + imu->setupInterrupt(); } void readIMU() { - imu.waitForData(); - imu.getGyro(gyro.x, gyro.y, gyro.z); - imu.getAccel(acc.x, acc.y, acc.z); + imu->waitForData(); + imu->getGyro(gyro.x, gyro.y, gyro.z); + imu->getAccel(acc.x, acc.y, acc.z); calibrateGyroOnce(); // Apply scale and bias @@ -60,7 +78,7 @@ void calibrateGyroOnce() { void calibrateAccel() { print("Calibrating accelerometer\n"); - imu.setAccelRange(imu.ACCEL_RANGE_2G); // the most sensitive mode + imu->setAccelRange(IMU::ACCEL_RANGE_2G); // the most sensitive mode print("1/6 Place level [8 sec]\n"); pause(8); @@ -94,9 +112,9 @@ void calibrateAccelOnce() { // Compute the average of the accelerometer readings acc = Vector(0, 0, 0); for (int i = 0; i < samples; i++) { - imu.waitForData(); + imu->waitForData(); Vector sample; - imu.getAccel(sample.x, sample.y, sample.z); + imu->getAccel(sample.x, sample.y, sample.z); acc = acc + sample; } acc = acc / samples; @@ -121,17 +139,18 @@ void printIMUCalibration() { } void printIMUInfo() { - imu.status() ? print("status: ERROR %d\n", imu.status()) : print("status: OK\n"); - print("model: %s\n", imu.getModel()); - print("who am I: 0x%02X\n", imu.whoAmI()); + imu->status() ? print("status: ERROR %d\n", imu->status()) : print("status: OK\n"); + print("model: %s\n", imu->getModel()); + print("who am I: 0x%02X\n", imu->whoAmI()); print("rate: %.0f\n", loopRate); - print("temperature: %.1f °C\n", imu.getTemp()); + print("interrupt mode: %s\n", imuIntPin != -1 ? "pin" : "timer"); + print("temperature: %.1f °C\n", imu->getTemp()); print("gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z); print("acc: %f %f %f\n", acc.x, acc.y, acc.z); - imu.waitForData(); + imu->waitForData(); Vector rawGyro, rawAcc; - imu.getGyro(rawGyro.x, rawGyro.y, rawGyro.z); - imu.getAccel(rawAcc.x, rawAcc.y, rawAcc.z); + imu->getGyro(rawGyro.x, rawGyro.y, rawGyro.z); + imu->getAccel(rawAcc.x, rawAcc.y, rawAcc.z); print("raw gyro: %f %f %f\n", rawGyro.x, rawGyro.y, rawGyro.z); print("raw acc: %f %f %f\n", rawAcc.x, rawAcc.y, rawAcc.z); } diff --git a/flix/parameters.ino b/flix/parameters.ino index acac658..daed501 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -61,6 +61,15 @@ Parameter parameters[] = { {"CTL_FLT_MODE_1", &flightModes[1]}, {"CTL_FLT_MODE_2", &flightModes[2]}, // imu + {"IMU_MODEL", &imuModel}, + {"IMU_BUS", &imuBus}, + {"IMU_PIN_SCK", &imuSckPin}, + {"IMU_PIN_MISO", &imuMisoPin}, + {"IMU_PIN_MOSI", &imuMosiPin}, + {"IMU_PIN_CS", &imuCsPin}, + {"IMU_PIN_SDA", &imuSdaPin}, + {"IMU_PIN_SCL", &imuSclPin}, + {"IMU_PIN_INT", &imuIntPin}, {"IMU_ROT_ROLL", &imuRotation.x}, {"IMU_ROT_PITCH", &imuRotation.y}, {"IMU_ROT_YAW", &imuRotation.z}, diff --git a/gazebo/flix.h b/gazebo/flix.h index 1d88343..62593e7 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -21,6 +21,9 @@ extern float motors[4]; Vector gyro, acc, imuRotation; Vector accBias, gyroBias, accScale(1, 1, 1); LowPassFilter gyroBiasFilter(0); +int imuModel = 1, imuBus = 0; +int imuSckPin = 0, imuMisoPin = 0, imuMosiPin = 0, imuCsPin = -1, imuIntPin = -1; +int imuSdaPin = 0, imuSclPin = 0; // declarations void step(); From 76456b778b61bec6c54d7b82a858228495b6ecc2 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 11 Aug 2026 06:02:55 +0300 Subject: [PATCH 143/154] Publish official pre-built binaries Add qspi and opi psram binaries. Build binary for Flix2 board. Add config.h file for defining parameter defaults. Set appropriate pwm frequency for c3/s3 automatically using config.h. Remove pid parameters definitions, the may be set is config.h now. --- .github/workflows/build.yml | 6 +++++ .github/workflows/docs.yml | 33 +++++++++++++++++++++++++ Makefile | 2 +- docs/img/web-flasher.png | Bin 0 -> 66740 bytes docs/usage.md | 48 +++++++++++++++++++++++++++--------- flix/config.h | 27 ++++++++++++++++++++ flix/control.ino | 41 ++++++------------------------ flix/parameters.ino | 3 +++ flix/pid.h | 2 +- 9 files changed, 116 insertions(+), 46 deletions(-) create mode 100644 docs/img/web-flasher.png create mode 100644 flix/config.h diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 303e73c..4043a31 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -22,6 +22,12 @@ jobs: run: make BOARD=esp32:esp32:esp32c3 - name: Build firmware for ESP32-S3 run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc + - name: Build firmware for ESP32-S3 with QSPI PSRAM + run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=enabled EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.qspi + - name: Build firmware for ESP32-S3 with OPI PSRAM + run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=opi EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.opi + - name: Build firmware for Flix2 + run: make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc,PSRAM=opi EXTRA='--build-property "compiler.cpp.extra_flags=-DFLIX2" --output-dir=flix/build/esp32.esp32.flix2' - name: Upload binaries uses: actions/upload-artifact@v4 with: diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml index 038e4ef..5d7fa59 100644 --- a/.github/workflows/docs.yml +++ b/.github/workflows/docs.yml @@ -8,6 +8,7 @@ on: permissions: contents: read + actions: read pages: write id-token: write @@ -30,6 +31,38 @@ jobs: run: cargo install mdbook --vers 0.4.43 --locked - name: Build book run: cd docs && mdbook build + - name: Wait for Build to complete + uses: lewagon/wait-on-check-action@v1.9.1 + with: + ref: ${{ github.sha }} + check-name: build_linux + repo-token: ${{ secrets.GITHUB_TOKEN }} + wait-interval: 30 + - name: Find firmware binaries + id: build_run + run: | + RUN_ID=$(gh api "repos/${{ github.repository }}/actions/workflows/build.yml/runs?head_sha=${{ github.sha }}&per_page=1" --jq '.workflow_runs[0].id') + echo "id=$RUN_ID" >> $GITHUB_OUTPUT + env: + GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} + - name: Download firmware binaries + uses: actions/download-artifact@v4 + with: + github-token: ${{ secrets.GITHUB_TOKEN }} + repository: ${{ github.repository }} + run-id: ${{ steps.build_run.outputs.id }} + name: firmware-binary + path: docs/build + - name: Create shortcuts for firmware binaries + working-directory: docs/build + run: | + for FQBN in esp32.esp32.*; do + zip -r $FQBN.zip $FQBN + BOARD="${FQBN#esp32.esp32.}" + ln -s "$FQBN/flix.ino.merged.bin" "flix.$BOARD.merged.bin" + ln -s "$FQBN/flix.ino.bin" "flix.$BOARD.bin" + ln -s "$FQBN/flix.ino.bootloader.bin" "flix.$BOARD.bootloader.bin" + done - name: Upload artifact uses: actions/upload-pages-artifact@v3 with: diff --git a/Makefile b/Makefile index 105d2f1..448ba1f 100644 --- a/Makefile +++ b/Makefile @@ -4,7 +4,7 @@ PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/ export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h build: .core .libs - arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix + arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix $(EXTRA) upload: build arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix diff --git a/docs/img/web-flasher.png b/docs/img/web-flasher.png new file mode 100644 index 0000000000000000000000000000000000000000..56dbaca75451196fc7a9ab4984e50a78f0d657d8 GIT binary patch literal 66740 zcmcG!bzfW0^FB-qEn2idfdZuzcPJX9SSiJd7jL0JaS0G0XmNM9QrumVG(d~HdxE`w0nDdvy0o6wJi_7 zpFVy1@cn-uTwL6L*O>eJ`=hh#$@SaqodbB+Vtn=a%setRtEjFC_SwwQ%P$Q339$g+ zqk!Z7O@inn-Z_>(-!dZV(jG(*xM`_tKbom_SoOo>Wl`ASBc-?+5=?ycN> 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zRpg#TgEP!}z^qQ^8!K*nX_p#ciRzRmc*owU>#louIqi-qUFU4NwSd=fvq=g7gONI; z;G9j}GxfOzj^>idUi+*wC&^W~lfL4EF{y-zm;1lRLH<52VLJLcfuX^HhMOaXnYC$3 zn@wIOD32UH6n{r_Jm5@%CU{|z7`|$tJMdzXnVqp;QA7utFwNF6d34HLB+Uj3d+SCT zGN`|!*+ml8=$(Dj=d<3+7_F9dN5v~%M{Lg&G1h)Fid&edK;o-Bnm@it2kEC!X-mB& z7c-b&Z^x0zoijWut-_3kERb4+Or#F`)38fei2|IdZhv5p(`A*On|zp2*&j;LlocxE z-E{pl37s9v>~0#H-VHv&`Ly?1<=pzIRo$sG%T%OutdQxv+RRKhrg!M!M$X}TDYebDh{tpOnSY`kK literal 0 HcmV?d00001 diff --git a/docs/usage.md b/docs/usage.md index c6914c3..1b8b13f 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -1,20 +1,48 @@ # Usage: build, setup and flight -To fly Flix quadcopter, you need to build the firmware, upload it to the ESP32 board, and set up the drone for flight. +To fly Flix quadcopter, you need to upload the firmware to the ESP32 board, and set up the drone for flight. -To get the firmware sources, clone the repository using git: +## Uploading the firmware + +You can either use the **prebuilt binaries** or **build the firmware** from sources — this will let you modify the firmware and add new features. + +### Prebuilt binaries (the easiest way) + +1. Download the latest firmware file using the following links: + + + |Type|Boards|Link| + |-|-|-| + |ESP32|DevKit, D1 Mini|[`quadcopter.dev/flix.esp32.merged.bin`](https://quadcopter.dev/flix.esp32.merged.bin)| + |ESP32-S3|Most S3 based|[`quadcopter.dev/flix.esp32s3.merged.bin`](https://quadcopter.dev/flix.esp32s3.merged.bin)| + |ESP32-S3 (2MB PSRAM)|S3 Super Mini, S3 Zero (2MB PSRAM)|[`quadcopter.dev/flix.esp32s3.qspi.merged.bin`](https://quadcopter.dev/flix.esp32s3.qspi.merged.bin)| + |ESP32-S3 (8/16MB PSRAM)|S3 Zero (8MB PSRAM)|[`quadcopter.dev/flix.esp32s3.opi.merged.bin`](https://quadcopter.dev/flix.esp32s3.opi.merged.bin)| + |ESP32-C3|C3 Super Mini|[`quadcopter.dev/flix.esp32c3.merged.bin`](https://quadcopter.dev/flix.esp32c3.merged.bin)| + |Flix2|Flix2 board|[`quadcopter.dev/flix.flix2.merged.bin`](https://quadcopter.dev/flix.flix2.merged.bin)| + + +2. Flash your ESP32 board using [ESP32 Web Flasher](https://www.espboards.dev/tools/program/): + + + + * Connect the board to your computer, press *Connect to ESP*, choose the serial port. + * Go to the *Flash* tab. + * Choose the downloaded firmware file, set *Flash address* to *0* (important). + * Click *Program* button and wait until the process is finished. + +### Building from sources (flexible) + +You can build and upload the firmware using either **Arduino IDE** (easier for beginners) or **command line**. + +Get the sources using git: ```bash git clone https://github.com/okalachev/flix.git && cd flix ``` -Beginners can [download the source code as a ZIP archive](https://github.com/okalachev/flix/archive/refs/heads/master.zip). +Beginners can [download the sources as a ZIP archive](https://github.com/okalachev/flix/archive/refs/heads/master.zip). -## Building the firmware - -You can build and upload the firmware using either **Arduino IDE** (easier for beginners) or **command line**. - -### Arduino IDE (Windows, Linux, macOS) +#### Arduino IDE (Windows, Linux, macOS) Flix firmware open in Arduino IDE @@ -29,7 +57,7 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b 7. Set *Tools* ⇒ *Core Debug Level* to *Error* to see the errors in the serial console. Set *Tools* ⇒ *USB CDC on Boot* to *Enabled* for ESP32-S3/ESP32-C3 boards. 8. [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) +#### Command line (Windows, Linux, macOS) 1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/). @@ -150,8 +178,6 @@ Before flight you need to calibrate the accelerometer: If using non-default motor pins, set the pin numbers using the parameters: `MOTOR_PIN_FL`, `MOTOR_PIN_FR`, `MOTOR_PIN_RL`, `MOTOR_PIN_RR` (front-left, front-right, rear-left, rear-right respectively). -Certain ESP32 models (such as ESP32-S3 and ESP32-C3) support a lower maximum PWM frequency; on these boards the parameter `MOT_PWM_FREQ` should be set to 38000 Hz. - #### Brushless motors If using brushless motors with ESCs: diff --git a/flix/config.h b/flix/config.h new file mode 100644 index 0000000..badea19 --- /dev/null +++ b/flix/config.h @@ -0,0 +1,27 @@ +// Copyright (c) 2026 Oleg Kalachev +// Repository: https://github.com/okalachev/flix + +// Parameter defaults + +#pragma once + +void setDefaults() { + // Set defaults here + + #if defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32C3) + pwmFrequency = 38000; + #endif + + #ifdef FLIX2 + imuModel = 4; // ICM-40609-D + imuIntPin = 10; + imuCsPin = 14; + + motorPins[MOTOR_REAR_LEFT] = 41; + motorPins[MOTOR_REAR_RIGHT] = 7; + motorPins[MOTOR_FRONT_RIGHT] = 18; + motorPins[MOTOR_FRONT_LEFT] = 38; + + voltagePin = 3; + #endif +} diff --git a/flix/control.ino b/flix/control.ino index 2b7e3ca..dfa3661 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -9,31 +9,6 @@ #include "lpf.h" #include "util.h" -#define PITCHRATE_P 0.05 -#define PITCHRATE_I 0.2 -#define PITCHRATE_D 0.001 -#define PITCHRATE_I_LIM 0.3 -#define ROLLRATE_P PITCHRATE_P -#define ROLLRATE_I PITCHRATE_I -#define ROLLRATE_D PITCHRATE_D -#define ROLLRATE_I_LIM PITCHRATE_I_LIM -#define YAWRATE_P 0.3 -#define YAWRATE_I 0.0 -#define YAWRATE_D 0.0 -#define YAWRATE_I_LIM 0.3 -#define ROLL_P 6 -#define ROLL_I 0 -#define ROLL_D 0 -#define PITCH_P ROLL_P -#define PITCH_I ROLL_I -#define PITCH_D ROLL_D -#define YAW_P 3 -#define PITCHRATE_MAX radians(360) -#define ROLLRATE_MAX radians(360) -#define YAWRATE_MAX radians(300) -#define TILT_MAX radians(30) -#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz - const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes int mode = STAB; bool armed = false; @@ -44,14 +19,14 @@ Vector ratesExtra; // feedforward rates Vector torqueTarget; float thrustTarget; -PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA); -PID pitchRatePID(PITCHRATE_P, PITCHRATE_I, PITCHRATE_D, PITCHRATE_I_LIM, RATES_D_LPF_ALPHA); -PID yawRatePID(YAWRATE_P, YAWRATE_I, YAWRATE_D); -PID rollPID(ROLL_P, ROLL_I, ROLL_D); -PID pitchPID(PITCH_P, PITCH_I, PITCH_D); -PID yawPID(YAW_P, 0, 0); -Vector maxRate(ROLLRATE_MAX, PITCHRATE_MAX, YAWRATE_MAX); -float tiltMax = TILT_MAX; +PID rollRatePID(0.05, 0.2, 0.001, 0.3, 0.2); +PID pitchRatePID(0.05, 0.2, 0.001, 0.3, 0.2); +PID yawRatePID(0.3, 0, 0, 0.3); +PID rollPID(6); +PID pitchPID(6); +PID yawPID(3); +Vector maxRate(radians(360), radians(360), radians(360)); +float tiltMax = radians(30); int flightModes[] = {STAB, STAB, STAB}; // map for rc mode switch extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; diff --git a/flix/parameters.ino b/flix/parameters.ino index daed501..4594c3e 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -14,6 +14,8 @@ extern float rcLossTimeout, descendTime, disarmTilt; extern float voltageScale; extern LowPassFilter voltageFilter; +#include "config.h" + Preferences storage; struct Parameter { @@ -144,6 +146,7 @@ Parameter parameters[] = { void setupParameters() { print("Setup parameters\n"); + setDefaults(); storage.begin("flix"); // Read parameters from storage for (auto ¶meter : parameters) { diff --git a/flix/pid.h b/flix/pid.h index ac7a66b..c82e009 100644 --- a/flix/pid.h +++ b/flix/pid.h @@ -18,7 +18,7 @@ public: LowPassFilter lpf; // low pass filter for derivative term - PID(float p, float i, float d, float windup = 0, float dAlpha = 1, float dtMax = 0.1) : + PID(float p, float i = 0, float d = 0, float windup = 0, float dAlpha = 1, float dtMax = 0.1) : p(p), i(i), d(d), windup(windup), lpf(dAlpha), dtMax(dtMax) {} float update(float error) { From d65c5c0eb16f62ed725f8eb76113884a4ce49186 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 12 Aug 2026 01:59:52 +0300 Subject: [PATCH 144/154] Build espnow-proxy in ci --- .github/workflows/build.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 4043a31..0cc43d3 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -33,6 +33,8 @@ jobs: with: name: firmware-binary path: flix/build + - name: Build espnow-proxy + run: arduino-cli compile --fqbn esp32:esp32:esp32 tools/espnow-proxy - name: Check c_cpp_properties.json run: tools/check_c_cpp_properties.py From 7312aeff325302dd554cd968b598203c47ebc815 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 12 Aug 2026 02:01:56 +0300 Subject: [PATCH 145/154] Rename lpf.h to filter.h To implement more filters (like notch) potentially. --- flix/cli.ino | 2 +- flix/control.ino | 2 +- flix/estimate.ino | 2 +- flix/{lpf.h => filter.h} | 0 flix/imu.ino | 2 +- flix/pid.h | 2 +- flix/power.ino | 2 +- gazebo/flix.h | 2 +- gazebo/simulator.cpp | 2 +- 9 files changed, 8 insertions(+), 8 deletions(-) rename flix/{lpf.h => filter.h} (100%) diff --git a/flix/cli.ino b/flix/cli.ino index 4926243..d26f6c6 100644 --- a/flix/cli.ino +++ b/flix/cli.ino @@ -6,7 +6,7 @@ #include "pid.h" #include "vector.h" #include "util.h" -#include "lpf.h" +#include "filter.h" extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; extern const int RAW, ACRO, STAB, AUTO; diff --git a/flix/control.ino b/flix/control.ino index dfa3661..43a2a4a 100644 --- a/flix/control.ino +++ b/flix/control.ino @@ -6,7 +6,7 @@ #include "vector.h" #include "quaternion.h" #include "pid.h" -#include "lpf.h" +#include "filter.h" #include "util.h" const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes diff --git a/flix/estimate.ino b/flix/estimate.ino index 75c2ec6..0e52114 100644 --- a/flix/estimate.ino +++ b/flix/estimate.ino @@ -5,7 +5,7 @@ #include "quaternion.h" #include "vector.h" -#include "lpf.h" +#include "filter.h" #include "util.h" Vector rates; // estimated angular rates, rad/s diff --git a/flix/lpf.h b/flix/filter.h similarity index 100% rename from flix/lpf.h rename to flix/filter.h diff --git a/flix/imu.ino b/flix/imu.ino index 0aafb13..bd00814 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -7,7 +7,7 @@ #include #include #include "vector.h" -#include "lpf.h" +#include "filter.h" #include "util.h" IMU *imu; diff --git a/flix/pid.h b/flix/pid.h index c82e009..0475ef8 100644 --- a/flix/pid.h +++ b/flix/pid.h @@ -5,7 +5,7 @@ #pragma once -#include "lpf.h" +#include "filter.h" class PID { public: diff --git a/flix/power.ino b/flix/power.ino index 93e3038..0dcc17e 100644 --- a/flix/power.ino +++ b/flix/power.ino @@ -5,7 +5,7 @@ #include #include -#include "lpf.h" +#include "filter.h" #include "util.h" float voltage = NAN; diff --git a/gazebo/flix.h b/gazebo/flix.h index 62593e7..d9a33fc 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -9,7 +9,7 @@ #include "quaternion.h" #include "Arduino.h" #include "wifi.h" -#include "lpf.h" +#include "filter.h" extern float t, dt; extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp index 60bf190..63bcec7 100644 --- a/gazebo/simulator.cpp +++ b/gazebo/simulator.cpp @@ -23,7 +23,7 @@ #include "estimate.ino" #include "safety.ino" #include "log.ino" -#include "lpf.h" +#include "filter.h" #include "mavlink.ino" #include "motors.ino" #include "parameters.ino" From 5edac09473ba02aec64725c8bae11c5c7db90dda Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Aug 2026 00:21:51 +0300 Subject: [PATCH 146/154] Make arduino-cli commands more clear in Makefile Move sketch name before other arguments. --- Makefile | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Makefile b/Makefile index 448ba1f..814e8fd 100644 --- a/Makefile +++ b/Makefile @@ -4,10 +4,10 @@ PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/ export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h build: .core .libs - arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix $(EXTRA) + arduino-cli compile flix --fqbn $(BOARD) --build-property "build.core_debug_level=1" $(EXTRA) upload: build - arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix + arduino-cli upload flix --fqbn $(BOARD) -p "$(PORT)" erase: arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool @@ -27,8 +27,8 @@ libs .libs: touch .libs upload_proxy: .core .libs - arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy - arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy + arduino-cli compile tools/espnow-proxy --fqbn $(BOARD) + arduino-cli upload tools/espnow-proxy --fqbn $(BOARD) -p "$(PORT)" gazebo/build cmake: gazebo/CMakeLists.txt mkdir -p gazebo/build From 3ea680605a2544667f80e6201ffcb9894f8efcea Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Aug 2026 00:59:36 +0300 Subject: [PATCH 147/154] Fix typo --- flix/parameters.ino | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/flix/parameters.ino b/flix/parameters.ino index 4594c3e..ff3daa3 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -22,7 +22,7 @@ struct Parameter { const char *name; // max length is 15 bool integer; union { float *f; int *i; }; // pointer to the variable - float inital; // default value + float initial; // default value float cache; // what's stored in flash void (*callback)(); // called after parameter change Parameter(const char *name, float *variable, void (*callback)() = nullptr) : name(name), integer(false), f(variable), callback(callback) {}; @@ -150,7 +150,7 @@ void setupParameters() { storage.begin("flix"); // Read parameters from storage for (auto ¶meter : parameters) { - parameter.inital = parameter.getValue(); + parameter.initial = parameter.getValue(); if (storage.isKey(parameter.name)) { parameter.setValue(storage.getFloat(parameter.name)); } @@ -211,10 +211,10 @@ void printParameters(const char *filter) { for (auto ¶meter : parameters) { if (strncasecmp(parameter.name, filter, strlen(filter))) continue; - if (floatEquals(parameter.getValue(), parameter.inital)) { // parameter changed + if (floatEquals(parameter.getValue(), parameter.initial)) { // parameter changed print("%-15s %-13g\n", parameter.name, parameter.getValue()); } else { - print("%-15s %-13g [%g]\n", parameter.name, parameter.getValue(), parameter.inital); + print("%-15s %-13g [%g]\n", parameter.name, parameter.getValue(), parameter.initial); } } } From fd8bf03cc785021ec5f82a5fecab410b1c992696 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Aug 2026 01:51:21 +0300 Subject: [PATCH 148/154] Update all used actions Some of them were deprecated. --- .github/workflows/build.yml | 14 +++++++------- .github/workflows/docs.yml | 12 ++++++------ .github/workflows/tools.yml | 8 ++++---- 3 files changed, 17 insertions(+), 17 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 0cc43d3..7d5b3c0 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -13,7 +13,7 @@ jobs: env: ARDUINO_SKETCH_ALWAYS_EXPORT_BINARIES: 1 steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Install Arduino CLI run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh - name: Build firmware for ESP32 @@ -29,7 +29,7 @@ jobs: - name: Build firmware for Flix2 run: make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc,PSRAM=opi EXTRA='--build-property "compiler.cpp.extra_flags=-DFLIX2" --output-dir=flix/build/esp32.esp32.flix2' - name: Upload binaries - uses: actions/upload-artifact@v4 + uses: actions/upload-artifact@v7 with: name: firmware-binary path: flix/build @@ -41,7 +41,7 @@ jobs: build_macos: runs-on: macos-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Install Arduino CLI run: brew install arduino-cli - name: Build firmware @@ -52,7 +52,7 @@ jobs: build_windows: runs-on: windows-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Install Arduino CLI run: choco install arduino-cli - name: Install Make @@ -73,7 +73,7 @@ jobs: DEBIAN_FRONTEND=noninteractive apt-get install -y curl wget build-essential cmake g++ pkg-config gnupg2 lsb-release sudo - name: Install Arduino CLI run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Install Gazebo run: | sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' @@ -84,7 +84,7 @@ jobs: run: sudo apt-get install -y libsdl2-dev - name: Build simulator run: make build_simulator - - uses: actions/upload-artifact@v4 + - uses: actions/upload-artifact@v7 with: name: gazebo-plugin-binary path: gazebo/build/*.so @@ -96,7 +96,7 @@ jobs: steps: - name: Install Arduino CLI run: brew install arduino-cli - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577 run: | rm -f /usr/local/bin/2to3* diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml index 5d7fa59..29f659e 100644 --- a/.github/workflows/docs.yml +++ b/.github/workflows/docs.yml @@ -16,7 +16,7 @@ jobs: markdownlint: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Install markdownlint run: npm install -g markdownlint-cli2 - name: Run markdownlint @@ -26,7 +26,7 @@ jobs: runs-on: ubuntu-latest needs: markdownlint steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Install mdBook run: cargo install mdbook --vers 0.4.43 --locked - name: Build book @@ -46,7 +46,7 @@ jobs: env: GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} - name: Download firmware binaries - uses: actions/download-artifact@v4 + uses: actions/download-artifact@v7 with: github-token: ${{ secrets.GITHUB_TOKEN }} repository: ${{ github.repository }} @@ -64,12 +64,12 @@ jobs: ln -s "$FQBN/flix.ino.bootloader.bin" "flix.$BOARD.bootloader.bin" done - name: Upload artifact - uses: actions/upload-pages-artifact@v3 + uses: actions/upload-pages-artifact@v5 with: path: docs/build deploy: - if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }} + if: ${{ github.event_name == 'push' && github.ref_name == 'master' }} concurrency: group: "pages" cancel-in-progress: true @@ -81,4 +81,4 @@ jobs: steps: - name: Deploy to GitHub Pages id: deployment - uses: actions/deploy-pages@v4 + uses: actions/deploy-pages@v5 diff --git a/.github/workflows/tools.yml b/.github/workflows/tools.yml index 88d1f25..a0ccc97 100644 --- a/.github/workflows/tools.yml +++ b/.github/workflows/tools.yml @@ -10,7 +10,7 @@ jobs: csv_to_ulog: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Build csv_to_ulog run: cd tools/csv_to_ulog && mkdir build && cd build && cmake .. && make - name: Test csv_to_ulog @@ -22,13 +22,13 @@ jobs: pyflix: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Install Python build tools run: pip install build - name: Build pyflix run: python3 -m build tools - name: Upload artifacts - uses: actions/upload-artifact@v4 + uses: actions/upload-artifact@v7 with: name: pyflix path: | @@ -37,7 +37,7 @@ jobs: python_tools: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@v7 - name: Install Python dependencies run: pip install -r tools/requirements.txt - name: Test csv_to_mcap tool From 0a377cfe6f7a4d629a99be33b7a3a58790c2dbfa Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 13 Aug 2026 02:21:03 +0300 Subject: [PATCH 149/154] Fix default windup value in pid INFINITY makes much more sense, since otherwise i term would be ineffective at all by default --- flix/pid.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flix/pid.h b/flix/pid.h index 0475ef8..071d274 100644 --- a/flix/pid.h +++ b/flix/pid.h @@ -18,7 +18,7 @@ public: LowPassFilter lpf; // low pass filter for derivative term - PID(float p, float i = 0, float d = 0, float windup = 0, float dAlpha = 1, float dtMax = 0.1) : + PID(float p, float i = 0, float d = 0, float windup = INFINITY, float dAlpha = 1, float dtMax = 0.1) : p(p), i(i), d(d), windup(windup), lpf(dAlpha), dtMax(dtMax) {} float update(float error) { From f12b239af94a0cd27f72d503802959ddd4121ffa Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Aug 2026 04:19:25 +0300 Subject: [PATCH 150/154] Fix simulation run --- gazebo/wifi.h | 1 + 1 file changed, 1 insertion(+) diff --git a/gazebo/wifi.h b/gazebo/wifi.h index b01bac0..1ec8b23 100644 --- a/gazebo/wifi.h +++ b/gazebo/wifi.h @@ -14,6 +14,7 @@ // Mocks int wifiMode = 1; int wifiLongRange = 0; +int wifiBroadcast = 0; int espnowChannel = 6; const int W_DISABLED = 0, W_AP = 1, W_STA = 2, W_ESPNOW = 3; From 0512f5ce6868a7a7f70c544e0ad9f0acd05456c1 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Aug 2026 04:21:36 +0300 Subject: [PATCH 151/154] Add sloc calculator to ci --- .github/workflows/tools.yml | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/.github/workflows/tools.yml b/.github/workflows/tools.yml index a0ccc97..2adcd6c 100644 --- a/.github/workflows/tools.yml +++ b/.github/workflows/tools.yml @@ -46,3 +46,23 @@ jobs: echo -e "t,x,y,z\n0,1,2,3\n1,4,5,6" > log.csv ./csv_to_mcap.py log.csv test $(stat -c %s log.mcap) -eq 883 + sloc: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v7 + - run: sudo apt-get install -y cloc jq + - name: Print source lines of code + run: cloc --by-file-by-lang flix + - name: Checkout previous revision + uses: actions/checkout@v7 + with: + ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.sha || github.event.before }} + path: prev + - name: Annotate total source lines + run: | + SLOC_CURR=$(cloc flix --json | jq -r '.SUM.code') + SLOC_PREV=$(cloc prev/flix --json | jq -r '.SUM.code') + DIFF=$(printf '%+d' "$((SLOC_CURR - SLOC_PREV))") + echo "* Current SLOC: $SLOC_CURR" >> $GITHUB_STEP_SUMMARY + echo "* Previous SLOC: $SLOC_PREV" >> $GITHUB_STEP_SUMMARY + echo "* Diff: $DIFF" >> $GITHUB_STEP_SUMMARY From 149c891cfcaeaa6b5c3ca588cc74a79097f221d4 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Aug 2026 04:26:30 +0300 Subject: [PATCH 152/154] Put binaries into docs artifact only in master and dev branch of the upstream repo --- .github/workflows/docs.yml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml index 29f659e..86b7ac7 100644 --- a/.github/workflows/docs.yml +++ b/.github/workflows/docs.yml @@ -25,6 +25,8 @@ jobs: build_book: runs-on: ubuntu-latest needs: markdownlint + env: + BINARIES: ${{ github.event_name == 'push' && (github.ref_name == 'master' || github.ref_name == 'dev') && github.repository == 'okalachev/flix' }} steps: - uses: actions/checkout@v7 - name: Install mdBook @@ -32,6 +34,7 @@ jobs: - name: Build book run: cd docs && mdbook build - name: Wait for Build to complete + if: ${{ env.BINARIES }} uses: lewagon/wait-on-check-action@v1.9.1 with: ref: ${{ github.sha }} @@ -39,6 +42,7 @@ jobs: repo-token: ${{ secrets.GITHUB_TOKEN }} wait-interval: 30 - name: Find firmware binaries + if: ${{ env.BINARIES }} id: build_run run: | RUN_ID=$(gh api "repos/${{ github.repository }}/actions/workflows/build.yml/runs?head_sha=${{ github.sha }}&per_page=1" --jq '.workflow_runs[0].id') @@ -46,6 +50,7 @@ jobs: env: GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} - name: Download firmware binaries + if: ${{ env.BINARIES }} uses: actions/download-artifact@v7 with: github-token: ${{ secrets.GITHUB_TOKEN }} @@ -54,6 +59,7 @@ jobs: name: firmware-binary path: docs/build - name: Create shortcuts for firmware binaries + if: ${{ env.BINARIES }} working-directory: docs/build run: | for FQBN in esp32.esp32.*; do From 3450932dcee4f2f9b501debc98f7bcd4153bef3a Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Aug 2026 09:56:04 +0300 Subject: [PATCH 153/154] Add testing of simulation run --- .github/workflows/build.yml | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 7d5b3c0..8024419 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -84,6 +84,15 @@ jobs: run: sudo apt-get install -y libsdl2-dev - name: Build simulator run: make build_simulator + - name: Run simulator + env: + GAZEBO_MODEL_PATH: ${{ github.workspace }}/gazebo/models + GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build + run: | + OUT=$(timeout -k 10s 120s gzserver --verbose gazebo/flix.world 2>&1 | tee /dev/stderr) + if echo "$OUT" | grep -Pq "\[Err\](?! \[RenderEngine)"; then + exit 1 + fi - uses: actions/upload-artifact@v7 with: name: gazebo-plugin-binary From 37f267ecc9e045b98fdbeb637896d0a9c0ef124b Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Aug 2026 05:57:58 +0300 Subject: [PATCH 154/154] Change type hints of the most List arguments to Sequence in pyflix These arguments are effectively immutable, so Sequence makes more sense - the user may use tuples in addition to lists. --- tools/pyflix/flix.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py index b7166f1..00de7d6 100644 --- a/tools/pyflix/flix.py +++ b/tools/pyflix/flix.py @@ -243,7 +243,7 @@ class Flix: time.sleep(1) @staticmethod - def _mavlink_to_flu(v: List[float]) -> List[float]: + def _mavlink_to_flu(v: Sequence[float]) -> List[float]: if len(v) == 3: # vector return [v[0], -v[1], -v[2]] elif len(v) == 4: # quaternion @@ -252,8 +252,8 @@ class Flix: raise ValueError(f'List must have 3 (vector) or 4 (quaternion) elements') @staticmethod - def _flu_to_mavlink(v: List[float]) -> List[float]: - return Flix._mavlink_to_flu(v) + def _flu_to_mavlink(v: Sequence[float]) -> List[float]: + return Flix._mavlink_to_flu(v) # flu to mavlink is the same as mavlink to flu def _command_send(self, command: int, params: Sequence[float]): if len(params) != 7: @@ -320,13 +320,13 @@ class Flix: def set_armed(self, armed: bool): self._command_send(mavlink.MAV_CMD_COMPONENT_ARM_DISARM, (1 if armed else 0, 0, 0, 0, 0, 0, 0)) - def set_position(self, position: List[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1): + def set_position(self, position: Sequence[float], yaw: Optional[float] = None, wait: bool = False, tolerance: float = 0.1): raise NotImplementedError('Position control is not implemented yet') - def set_velocity(self, velocity: List[float], yaw: Optional[float] = None): + def set_velocity(self, velocity: Sequence[float], yaw: Optional[float] = None): raise NotImplementedError('Velocity control is not implemented yet') - def set_attitude(self, attitude: List[float], thrust: float): + def set_attitude(self, attitude: Sequence[float], thrust: float): if len(attitude) == 3: attitude = Quaternion([attitude[0], attitude[1], attitude[2]]).q # type: ignore elif len(attitude) != 4: @@ -339,7 +339,7 @@ class Flix: [attitude[0], attitude[1], attitude[2], attitude[3]], 0, 0, 0, thrust) - def set_rates(self, rates: List[float], thrust: float): + def set_rates(self, rates: Sequence[float], thrust: float): if len(rates) != 3: raise ValueError('Rates must be [roll_rate, pitch_rate, yaw_rate]') if not (0 <= thrust <= 1): @@ -351,7 +351,7 @@ class Flix: [1, 0, 0, 0], rates[0], rates[1], rates[2], thrust) - def set_motors(self, motors: List[float]): + def set_motors(self, motors: Sequence[float]): if len(motors) != 4: raise ValueError('motors must have 4 values') if not all(0 <= m <= 1 for m in motors):