From a174d5cd7d12ba3f9dbefcc62b6bb53a0e0cebe0 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 19 Dec 2023 05:06:19 +0300 Subject: [PATCH] Headers cleanups --- flix/flix.ino | 2 ++ flix/imu.ino | 2 ++ flix/led.ino | 2 ++ flix/mavlink.ino | 2 ++ flix/motors.ino | 2 +- flix/rc.ino | 2 ++ flix/time.ino | 2 ++ flix/util.ino | 2 ++ flix/wifi.ino | 6 +----- gazebo/flix.cpp | 19 +------------------ gazebo/joystick.h | 2 ++ 11 files changed, 19 insertions(+), 24 deletions(-) diff --git a/flix/flix.ino b/flix/flix.ino index 65d534b..ed7cdad 100644 --- a/flix/flix.ino +++ b/flix/flix.ino @@ -1,6 +1,8 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix +// Main firmware file + #include "vector.h" #include "quaternion.h" diff --git a/flix/imu.ino b/flix/imu.ino index 72e2672..6573215 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -1,6 +1,8 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix +// Work with the IMU sensor + #include #include diff --git a/flix/led.ino b/flix/led.ino index 4815a97..f8ab8b0 100644 --- a/flix/led.ino +++ b/flix/led.ino @@ -1,6 +1,8 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix +// Main LED control + #define BLINK_PERIOD 500000 void setupLED() diff --git a/flix/mavlink.ino b/flix/mavlink.ino index 5418701..173c7b4 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -1,6 +1,8 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix +// MAVLink communication + #if WIFI_ENABLED == 1 #include "mavlink/common/mavlink.h" diff --git a/flix/motors.ino b/flix/motors.ino index cddbd00..8b8ee29 100644 --- a/flix/motors.ino +++ b/flix/motors.ino @@ -1,7 +1,7 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// Motors output +// Motors output control // Motor: 8520 3.7V // ESC: KINGDUO Micro Mini 4A 1S Brushed Esc 3.6-6V diff --git a/flix/rc.ino b/flix/rc.ino index 42d3a7d..bed076d 100644 --- a/flix/rc.ino +++ b/flix/rc.ino @@ -1,6 +1,8 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix +// Work with the RC receiver + #include const uint16_t channelNeutral[] = {995, 883, 200, 972, 512, 512}; diff --git a/flix/time.ino b/flix/time.ino index d3f9111..2d15fa3 100644 --- a/flix/time.ino +++ b/flix/time.ino @@ -1,6 +1,8 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix +// Time related functions + void step() { float now = micros() / 1000000.0; diff --git a/flix/util.ino b/flix/util.ino index eae6742..13d7fc6 100644 --- a/flix/util.ino +++ b/flix/util.ino @@ -1,6 +1,8 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix +// Utility functions + #include "math.h" float mapf(long x, long in_min, long in_max, float out_min, float out_max) diff --git a/flix/wifi.ino b/flix/wifi.ino index 3832859..8909edd 100644 --- a/flix/wifi.ino +++ b/flix/wifi.ino @@ -1,9 +1,7 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFi/examples/WiFiAccessPoint/WiFiAccessPoint.ino -// https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFi/examples/WiFiClient/WiFiClient.ino -// https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFi/examples/WiFiUDPClient/WiFiUDPClient.ino +// Wi-Fi support #if WIFI_ENABLED == 1 @@ -15,9 +13,7 @@ #define WIFI_SSID "flix" #define WIFI_PASSWORD "flixwifi" -// #define WIFI_UDP_IP "192.168.4.255" #define WIFI_UDP_IP "255.255.255.255" -// #define WIFI_UDP_IP "192.168.4.2" #define WIFI_UDP_PORT 14550 WiFiUDP udp; diff --git a/gazebo/flix.cpp b/gazebo/flix.cpp index 773c1ab..31130e9 100644 --- a/gazebo/flix.cpp +++ b/gazebo/flix.cpp @@ -1,24 +1,7 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix -// https://classic.gazebosim.org/tutorials?tut=plugins_model&cat=write_plugin -// https://classic.gazebosim.org/tutorials?tut=set_velocity&cat= -// https://github.com/gazebosim/gazebo-classic/blob/gazebo11/plugins/ArduCopterPlugin.cc -// https://github.com/gazebosim/gazebo-classic/blob/gazebo11/plugins/ArduCopterPlugin.cc#L510 - motor -// https://classic.gazebosim.org/tutorials?tut=gui_overlay&cat=user_input -// https://github.com/gazebosim/gazebo-classic/blob/gazebo9/examples/plugins/gui_overlay_plugin_time/GUIExampleTimeWidget.cc -// https://github.com/yujinrobot/kobuki_desktop/blob/ea5b7283d92f61efbd1a2185b46e1ad344e7e81a/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp#L29 -// https://github.com/osrf/swarm/blob/1a2e4040b12b686ed7a13e32301d538b1c7d0b1d/src/RobotPlugin.cc#L936 - -// motors thrust: https://www.youtube.com/watch?v=VtKI4Pjx8Sk - -// https://github.com/gazebosim/gazebo-classic/tree/master/examples/plugins - -// publish to topics https://github.com/wuwushrek/sim_cf/blob/df68af275c9f753d9bf1b0494a4e513d9f4c9a7c/crazyflie_gazebo/src/gazebo_lps_plugin.cpp#L104 -// https://github.com/bitcraze/crazyflie-simulation - -// GUI overlay: -// https://github.com/gazebosim/gazebo-classic/blob/gazebo9/examples/plugins/gui_overlay_plugin_time/GUIExampleTimeWidget.cc +// Gazebo plugin for running Arduino code and simulating the drone #include #include diff --git a/gazebo/joystick.h b/gazebo/joystick.h index 3c490f8..d945bcf 100644 --- a/gazebo/joystick.h +++ b/gazebo/joystick.h @@ -1,6 +1,8 @@ // Copyright (c) 2023 Oleg Kalachev // Repository: https://github.com/okalachev/flix +// Joystick support for simulation + #include #include #include