+
+ Flix (flight + X) — open source ESP32-based quadcopter made from scratch.
+
@@ -18,15 +21,13 @@
* Dedicated for education and research.
* Made from general-purpose components.
* Simple and clean source code in Arduino (<2k lines firmware).
-* Control using USB gamepad, remote control or smartphone.
-* Wi-Fi and MAVLink support.
+* 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.
+* 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
@@ -46,51 +47,67 @@ 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:
+
+
+
+### 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:
-## Articles
+## Documentation articles
+
+1. [Assembly instructions](docs/assembly.md).
+2. [Usage: build, setup and flight](docs/usage.md).
+3. [Simulation](gazebo/README.md).
+4. [Python library](tools/pyflix/README.md).
+
+Additional articles:
-* [Assembly instructions](docs/assembly.md).
-* [Usage: build, setup and flight](docs/usage.md).
-* [Troubleshooting](docs/troubleshooting.md).
-* [Firmware architecture overview](docs/firmware.md).
-* [Python library tutorial](tools/pyflix/README.md).
-* [Log analysis](docs/log.md).
* [User builds gallery](docs/user.md).
+* [Firmware architectural overview](docs/firmware.md).
+* [Troubleshooting](docs/troubleshooting.md).
+* [Log analysis](docs/log.md).
## Components
|Type|Part|Image|Quantity|
|-|-|:-:|:-:|
-|Microcontroller board|ESP32 Mini||1|
-|IMU (and barometer²) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board) ICM20948V2 (ICM‑20948)³ GY-521 (MPU-6050)³⁻¹| |1|
-|Buck-boost converter (recommended)|To be determined, output 5V or 3.3V, see [user-contributed schematics](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612179508274&cot=14)||1|
-|Motor|8520 3.7V brushed motor (shaft 0.8mm). Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).||4|
-|Propeller|Hubsan 55 mm||4|
-|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|
+|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|
+|Propeller|55 mm or 65 mm||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|
|Li-Po Battery charger|Any||1|
|Screws for IMU board mounting|M3x5||2|
|Screws for frame assembly|M1.4x5||4|
-|Frame main part|3D printed⁴: [`flix-frame-1.1.stl`](docs/assets/flix-frame-1.1.stl) [`flix-frame-1.1.step`](docs/assets/flix-frame-1.1.step) Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.||1|
-|Frame top part|3D printed: [`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)||1|
-|Washer for IMU board mounting|3D printed: [`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)||2|
+|Frame main part|3D printed²: [`stl`](docs/assets/flix-frame-1.1.stl) [`step`](docs/assets/flix-frame-1.1.step) Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.||1|
+|Frame top part|3D printed: [`stl`](docs/assets/esp32-holder.stl) [`step`](docs/assets/esp32-holder.step)||1|
+|Washer for IMU board mounting|3D printed: [`stl`](docs/assets/washer-m3.stl) [`step`](docs/assets/washer-m3.step)||2|
|Controller (recommended)|CC2500 transmitter, like BetaFPV LiteRadio CC2500 (RC receiver/Wi-Fi). Two-sticks gamepad (Wi-Fi only) — see [recommended gamepads](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html#supported-joysticks). Other⁵||1|
-|*RC receiver (optional)*|*DF500 or other⁵*||1|
+|*RC receiver (optional)*|*DF500 or other³*||1|
|Wires|28 AWG recommended|||
|Tape, double-sided tape||||
-*² — barometer is not used for now.*
-*³ — change `MPU9250` to `ICM20948` or `MPU6050` in `imu.ino` file for using the appropriate boards.*
-*³⁻¹ — MPU-6050 supports I²C interface only (not recommended). To use it change IMU declaration to `MPU6050 IMU(Wire)`.*
-*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*
-*⁵ — you also may use any transmitter-receiver pair with SBUS interface.*
+*¹ — barometer is not used for now.*
+*² — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*
+*³ — you also may use any transmitter-receiver pair with SBUS interface.*
Tools required for assembly:
@@ -100,7 +117,7 @@ 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 +125,7 @@ Feel free to modify the design and or code, and create your own improved version
-*(Dashed is optional).*
+*(Dashed elements are optional).*
Motor connection scheme:
@@ -116,8 +133,6 @@ Motor connection scheme:
You can see a user-contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612338222067&cot=14) of the drone.
-See [assembly guide](docs/assembly.md) for instructions on assembling the drone.
-
### Notes
* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.
@@ -135,14 +150,15 @@ See [assembly guide](docs/assembly.md) for instructions on assembling the drone.
* Solder pull-down resistors to the MOSFETs.
* Connect the motors to the ESP32 Mini using MOSFETs, by following scheme:
- |Motor|Position|Direction|Wires|GPIO|
- |-|-|-|-|-|
- |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12 (*TDI*)|
- |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13 (*TCK*)|
- |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14 (*TMS*)|
- |Motor 3|Front left|Clockwise|Blue & Red|GPIO15 (*TD0*)|
+ |Motor|Position|Direction|Prop type|Motor wires|GPIO|
+ |-|-|-|-|-|-|
+ |Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
+ |Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
+ |Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
+ |Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
- Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires.
+ Clockwise motors have blue & red wires and correspond to propeller type A (marked on the propeller).
+ Counter-clockwise motors have black & white wires correspond to propeller type B.
* Optionally connect the RC receiver to the ESP32's UART2:
@@ -150,32 +166,20 @@ 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)|GPIO4|
-*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.*
+* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32-S3).
-### IMU placement
+ 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.
-Default IMU orientation in the code is **LFD** (Left-Forward-Down):
+## Resources
-
-
-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 (English / Russian).
+* 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/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
diff --git a/docs/assembly.md b/docs/assembly.md
index ce0dd36..a332272 100644
--- a/docs/assembly.md
+++ b/docs/assembly.md
@@ -27,3 +27,29 @@ Soldered components ([schematics variant](https://miro.com/app/board/uXjVN-dTjoo
Assembled drone:
+
+See an alternative assembly process photos here: https://drive.google.com/drive/folders/1FG5BH9RCzdf1XmJcC70PymiRMXcz6Fx7?usp=sharing.
+
+## Motor directions
+
+> [!WARNING]
+> The drone above is an early build, and it has **inversed** motor directions scheme. The photos only illustrate the assembly process in general.
+
+Use standard motor directions scheme:
+
+
+
+Motors connection table:
+
+|Motor|Position|Direction|Prop type|Motor wires|GPIO|
+|-|-|-|-|-|-|
+|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
+|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
+|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
+|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
+
+## Motors tightening
+
+Motors should be installed very tightly — any vibration may lead to bad attitude estimation and unstable flight. If motors are loose, use tiny tape pieces to fix them tightly as shown below:
+
+
diff --git a/docs/book/firmware.md b/docs/book/firmware.md
index 7f36917..eb3c1c3 100644
--- a/docs/book/firmware.md
+++ b/docs/book/firmware.md
@@ -12,8 +12,8 @@
* `acc` *(Vector)* — данные с акселерометра, *м/с2*.
* `rates` *(Vector)* — отфильтрованные угловые скорости, *рад/с*.
* `attitude` *(Quaternion)* — оценка ориентации (положения) дрона.
-* `controlRoll`, `controlPitch`, ... *(float[])* — команды управления от пилота, в диапазоне [-1, 1].
-* `motors` *(float[])* — выходные сигналы на моторы, в диапазоне [0, 1].
+* `controlRoll`, `controlPitch`, `controlYaw`, `controlThrottle`, `controlMode` *(float)* — команды управления от пилота, в диапазоне [-1, 1].
+* `motors` *(float[4])* — выходные сигналы на моторы, в диапазоне [0, 1].
## Исходные файлы
@@ -35,7 +35,7 @@
### Подсистема управления
-Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в *команду управления*, которая включает следующее:
+Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в **команду управления**, которая включает следующее:
* `attitudeTarget` *(Quaternion)* — целевая ориентация дрона.
* `ratesTarget` *(Vector)* — целевые угловые скорости, *рад/с*.
diff --git a/docs/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 2127891..e5dc223 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
@@ -172,16 +172,16 @@ 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
-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 \\]
-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/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..8db55cd 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
-The main loop is running at 1000 Hz. All the dataflow goes through global variables (for simplicity):
+The main loop is running at 1000 Hz. The dataflow goes through global variables, including:
* `t` *(float)* — current step time, *s*.
* `dt` *(float)* — time delta between the current and previous steps, *s*.
@@ -14,12 +14,12 @@ The main loop is running at 1000 Hz. All the dataflow goes through global variab
* `acc` *(Vector)* — acceleration data from the accelerometer, *m/s2*.
* `rates` *(Vector)* — filtered angular rates, *rad/s*.
* `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
-* `controlRoll`, `controlPitch`, ... *(float[])* — pilot control inputs, range [-1, 1].
-* `motors` *(float[])* — motor outputs, range [0, 1].
+* `controlRoll`, `controlPitch`, `controlYaw`, `controlThrottle`, `controlMode` *(float)* — pilot control inputs, range [-1, 1].
+* `motors` *(float[4])* — motor outputs, range [0, 1].
## Source files
-Firmware source files are located in `flix` directory. The core files are:
+Firmware source files are located in `flix` directory.
* [`flix.ino`](../flix/flix.ino) — Arduino sketch main file, entry point.Includes some global variable definitions and the main loop.
* [`imu.ino`](../flix/imu.ino) — reading data from the IMU sensor (gyroscope and accelerometer), IMU calibration.
@@ -28,6 +28,7 @@ Firmware source files are located in `flix` directory. The core files are:
* [`control.ino`](../flix/control.ino) — control subsystem, three-dimensional two-level cascade PID controller.
* [`motors.ino`](../flix/motors.ino) — PWM motor output control.
* [`mavlink.ino`](../flix/mavlink.ino) — interaction with QGroundControl or [pyflix](../tools/pyflix) via MAVLink protocol.
+* [`cli.ino`](../flix/cli.ino) — serial and MAVLink console.
Utility files:
@@ -37,20 +38,67 @@ Utility files:
### Control subsystem
-Pilot inputs are interpreted in `interpretControls()`, and then converted to the *control command*, which consists of the following:
+Pilot inputs are interpreted in `interpretControls()`, and then converted to the **control command**, which consists of the following:
* `attitudeTarget` *(Quaternion)* — target attitude of the drone.
* `ratesTarget` *(Vector)* — target angular rates, *rad/s*.
-* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates , used for yaw rate control in STAB mode, *rad/s*.
+* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates, used for yaw rate control in STAB mode, *rad/s*.
* `torqueTarget` *(Vector)* — target torque, range [-1, 1].
-* `thrustTarget` *(float)* — collective thrust target, range [0, 1].
+* `thrustTarget` *(float)* — collective motor thrust target, range [0, 1].
-Control command is processed in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding target is set to `NAN`.
+Control command is handled in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding control target is set to `NAN`.
Armed state is stored in `armed` variable, and current mode is stored in `mode` variable.
-## Building
+### Console
+
+To write into the console, `print()` function is used. This function sends data both to the Serial console and to the MAVLink console (which can be accessed wirelessly in QGroundControl). The function supports formatting:
+
+```cpp
+print("Test value: %.2f\n", testValue);
+```
+
+In order to add a console command, modify the `doCommand()` function in `cli.ino` file.
+
+> [!IMPORTANT]
+> Avoid using delays in in-flight commands, it will **crash** the drone! (The design is one-threaded.)
+>
+> For on-the-ground commands, use `pause()` function, instead of `delay()`. This function allows to pause in a way that MAVLink connection will continue working.
+
+### 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).
+
+> [!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:
+
+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).
diff --git a/docs/img/arduino-ide.png b/docs/img/arduino-ide.png
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--- a/docs/img/control.svg
+++ b/docs/img/control.svg
@@ -1,4 +1,3 @@
-
-
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+
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diff --git a/docs/img/dataflow.svg b/docs/img/dataflow.svg
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+++ b/docs/img/dataflow.svg
@@ -1,4 +1,3 @@
-
-
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+
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diff --git a/docs/img/drone-axes-rotate.svg b/docs/img/drone-axes-rotate.svg
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+++ b/docs/img/drone-axes-rotate.svg
@@ -0,0 +1,136 @@
+
diff --git a/docs/img/drone-axes.svg b/docs/img/drone-axes.svg
new file mode 100644
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--- /dev/null
+++ b/docs/img/drone-axes.svg
@@ -0,0 +1,110 @@
+
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+++ b/docs/img/flix.svg
@@ -0,0 +1,38 @@
+
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@@ -0,0 +1,89 @@
+
diff --git a/docs/img/qgc-attitude.png b/docs/img/qgc-attitude.png
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+++ b/docs/img/schematics1.svg
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+
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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/troubleshooting.md b/docs/troubleshooting.md
index 509fd11..28af53f 100644
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -4,34 +4,44 @@
Do the following:
-* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#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 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 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
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 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 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.
+* **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.
+* **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 shown in QGroundControl is correct.
-* **Check the IMU orientation is set correctly**. If the attitude estimation is rotated, make sure `rotateIMU` function is defined correctly in `imu.ino` file.
+* **Check the 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).
* `mfl` — should rotate front left motor (clockwise).
* `mrl` — should rotate rear left motor (counter-clockwise).
* `mrr` — should rotate rear right motor (clockwise).
-* **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.
+* **Check the propeller directions are correct**. Make sure your propeller types (A or B) are installed as on the picture:
+
+
+
+* **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 controls** using `rc` command. All the controls should change between -1 and 1, and the throttle between 0 and 1.
diff --git a/docs/usage.md b/docs/usage.md
index e6267a2..1b8b13f 100644
--- a/docs/usage.md
+++ b/docs/usage.md
@@ -1,130 +1,67 @@
# 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 upload the firmware to the ESP32 board, and set up the drone for flight.
-For the start, 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
+git clone https://github.com/okalachev/flix.git && cd flix
```
-## Simulation
+Beginners can [download the sources as a ZIP archive](https://github.com/okalachev/flix/archive/refs/heads/master.zip).
-### Ubuntu
+#### Arduino IDE (Windows, Linux, macOS)
-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
-
-### 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).
-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.
+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 3.3.10. 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 2.0.16.
-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.
+ * `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, *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.
-### Command line (Windows, Linux, macOS)
+#### 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 +86,163 @@ 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).
+ 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:FlashSize=4M,CDCOnBoot=cdc upload
+ ```
+
+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
+
+### 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.
+
+> [!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)**.
+
+To access the console using serial port:
+
+1. Connect the ESP32 board to the computer using USB cable.
+2. Open Serial Monitor in Arduino IDE (or use `make monitor` in the command line).
+3. In Arduino IDE, make sure the baudrate is set to 115200.
+
+To access the console using QGroundControl:
+
+1. Connect to the drone using QGroundControl app.
+2. Go to the QGroundControl menu ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
+
+
+
+> [!TIP]
+> Use `help` command to see the list of available commands.
+
+### Access parameters
+
+The drone is configured using parameters. To access and modify them, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*:
+
+
+
+You can also work with parameters using `p` command in the console. 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`.
+
+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:
+
+
+
+Use the following table to set the parameters for common IMU orientations:
+
+|Orientation|Parameters|Orientation|Parameters|
+|:-:|-|-|-|
+||`IMU_ROT_ROLL` = 0 `IMU_ROT_PITCH` = 0 `IMU_ROT_YAW` = 0 ||`IMU_ROT_ROLL` = 3.142 `IMU_ROT_PITCH` = 0 `IMU_ROT_YAW` = 0|
+||`IMU_ROT_ROLL` = 0 `IMU_ROT_PITCH` = 0 `IMU_ROT_YAW` = -1.571||`IMU_ROT_ROLL` = 3.142 `IMU_ROT_PITCH` = 0 `IMU_ROT_YAW` = -1.571|
+||`IMU_ROT_ROLL` = 0 `IMU_ROT_PITCH` = 0 `IMU_ROT_YAW` = 3.142||`IMU_ROT_ROLL` = 3.142 `IMU_ROT_PITCH` = 0 `IMU_ROT_YAW` = 3.142|
+| ☑️ **Default**| `IMU_ROT_ROLL` = 0 `IMU_ROT_PITCH` = 0 `IMU_ROT_YAW` = 1.571||`IMU_ROT_ROLL` = 3.142 `IMU_ROT_PITCH` = 0 `IMU_ROT_YAW` = 1.571|
+
+### Calibrate accelerometer
Before flight you need to calibrate the accelerometer:
-1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
+1. Access the console using QGroundControl (recommended) or Serial Monitor.
2. Type `ca` command there and follow the instructions.
-#### Control with smartphone
+### 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).
+
+#### 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).
+
+> [!CAUTION]
+> **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them.
+
+### 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:
+
+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:
+
+ * 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. Use the following commands **— remove the propellers before running the tests!**
+
+ * `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).
+
+ Make sure rotation directions and propeller types match the following diagram:
+
+
+
+> [!WARNING]
+> Never run the motors when powering the drone from USB, always use the battery for that.
+
+## Setup remote control
+
+There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi/ESP-NOW).
+
+### 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.
@@ -171,17 +252,19 @@ Before flight you need to calibrate the accelerometer:
6. Use the virtual joystick to fly the drone!
> [!TIP]
-> Decrease `TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
+> Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
-#### Control with remote control
+### Control with a remote control
-Before flight using remote control, you need to calibrate it:
+If using SBUS-connected remote control you need to enable SBUS and 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.
-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. 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!
-#### Control with USB remote control (Wi-Fi)
+### Control with a USB remote control
If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
@@ -190,12 +273,9 @@ 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!
-> [!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:
@@ -214,13 +294,16 @@ 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.
+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
-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.
@@ -229,24 +312,87 @@ 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
-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.
+If the pilot moves the control sticks and mode switch is not configured, the drone will switch back to *STAB* mode.
-## Adjusting parameters
+## Wi-Fi configuration
-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 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:
-## CLI access
+* `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 (may cause additional delays, so generally not recommended).
+* `3` — ESP-NOW mode — the drone uses ESP-NOW protocol for communication.
-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*.
+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
+```
+
+### 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 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
+ ```
+
+ 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:
+
+ ```
+ 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*, 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
+
+After the flight, you can download the flight log wirelessly for analysis. Use the following command on your computer for that:
+
+```bash
+make log
+```
+
+See more details about log analysis in the [log analysis](log.md) article.
diff --git a/docs/user.md b/docs/user.md
index 786aced..ee57b6f 100644
--- a/docs/user.md
+++ b/docs/user.md
@@ -4,12 +4,170 @@ This page contains user-built drones based on the Flix project. 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.
+
+
+
+[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).
+
+
+
+[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).
+
+
+
+---
+
+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: 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.
+
+
+
+---
+
+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.
+
+**Flight video:**
+
+
+
+
+
+---
+
+Author: [goldarte](https://t.me/goldarte).
+
+
+
+**Flight video:**
+
+
+
+---
+
+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.
+
+
+
+STL files and other materials: see [here](https://drive.google.com/drive/folders/1wTUzj087LjKQQl3Lz5CjHCuobxoykhyp?usp=share_link).
+
+### Selected works
+
+Author: [KiraFlux](https://t.me/@kiraflux_0XC0000005).
+Description: **custom ESPNOW remote control** was implemented, modified firmware to support ESPNOW protocol.
+Telegram posts: [1](https://t.me/opensourcequadcopter/106), [2](https://t.me/opensourcequadcopter/114).
+Modified Flix firmware: https://github.com/KiraFlux/flix/tree/klyax.
+Remote control project: https://github.com/KiraFlux/ESP32-DJC.
+Drone design: https://github.com/KiraFlux/Klyax.
+
+
+
+**ESPNOW remote control demonstration**:
+
+
+
+Author: [tolyan4krut](https://t.me/tolyan4krut).
+Description: the first drone based on ESP32-S3-CAM board **with a camera**, implementing Wi-Fi video streaming. Runs HTTP server and HTTP video stream.
+Modified Flix firmware: https://github.com/CatRey/Flix-Camera-Streaming.
+[Telegram post](https://t.me/opensourcequadcopter/117).
+
+
+
+**Video streaming and flight demonstration**:
+
+
+
+Author: [Vlad Tolshinov](https://t.me/Vlad_Tolshinov).
+Description: custom frame with enlarged arm length, which provides very high flight stability, 65 mm props.
+
+
+
+**Flight video**:
+
+
+
+---
+
## RoboCamp
Author: RoboCamp participants.
Description: 3D-printed and wooden frames, ESP32 Mini, DC-DC buck-boost converters. BetaFPV LiteRadio 3 to control the drones via Wi-Fi connection.
Features: altitude hold, obstacle avoidance, autonomous flight elements.
-Some of the designed model files: https://drive.google.com/drive/folders/18YHWGquKeIevzrMH4-OUT-zKXMETTEUu?usp=share_link.
+Some of the designed model files: see [here](https://drive.google.com/drive/folders/18YHWGquKeIevzrMH4-OUT-zKXMETTEUu?usp=share_link).
RoboCamp took place in July 2025, Saint Petersburg, where 9 participants designed and built their own drones using the Flix project, and then modified the firmware to complete specific flight tasks.
diff --git a/docs/version0.md b/docs/version0.md
index d8dd9c4..d2e43d1 100644
--- a/docs/version0.md
+++ b/docs/version0.md
@@ -14,7 +14,7 @@ Flix version 0 (obsolete):
|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)||4|
|Propeller|Hubsan 55 mm||4|
|Motor ESC|2.7A 1S Dual Way Micro Brush ESC||4|
-|RC transmitter|KINGKONG TINY X8||1|
+|RC transmitter|KINGKONG TINY X8||1|
|RC receiver|DF500 (SBUS)||1|
|~~SBUS inverter~~*|||~~1~~|
|Battery|3.7 Li-Po 850 MaH 60C|||
diff --git a/flix/cli.ino b/flix/cli.ino
index 90ccbec..4926243 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -6,56 +6,64 @@
#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 ACRO, STAB, AUTO;
+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 controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern float controlTime;
extern int mode;
extern bool armed;
+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"
-"p - show parameter\n"
+"p - show parameters starting with str\n"
"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"
-"stab/acro/auto - set mode\n"
+"raw/stab/acro/auto - set mode\n"
"rc - show RC data\n"
-"mot - show motor output\n"
-"log - dump in-RAM log\n"
"cr - calibrate RC\n"
-"ca - calibrate accel\n"
-"mfr, mfl, mrr, mrl - test motor (remove props)\n"
+"pw - show power info\n"
+"wifi - show Wi-Fi info\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"
"sys - show system info\n"
"reset - reset drone's state\n"
"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);
va_end(args);
Serial.print(buf);
-#if WIFI_ENABLED
mavlinkPrint(buf);
-#endif
}
void pause(float duration) {
@@ -63,9 +71,7 @@ void pause(float duration) {
while (t - start < duration) {
step();
handleInput();
-#if WIFI_ENABLED
processMavlink();
-#endif
delay(50);
}
}
@@ -86,14 +92,12 @@ 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) {
- 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());
}
@@ -103,19 +107,21 @@ 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") {
armed = false;
+ } else if (command == "raw") {
+ mode = RAW;
} else if (command == "stab") {
mode = STAB;
} else if (command == "acro") {
@@ -129,32 +135,48 @@ void doCommand(String str, bool echo = false) {
}
print("\nroll: %g pitch: %g yaw: %g throttle: %g mode: %g\n",
controlRoll, controlPitch, controlYaw, controlThrottle, controlMode);
+ print("time: %.1f\n", controlTime);
print("mode: %s\n", getModeName());
print("armed: %d\n", armed);
+ } else if (command == "pw") {
+ print("Voltage: %.1f V\n", voltage);
+ } 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") {
+ 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]);
} else if (command == "log") {
- dumpLog();
+ printLogHeader();
+ if (arg0 == "dump") printLogData();
} else if (command == "cr") {
calibrateRC();
} 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());
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 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;
@@ -163,12 +185,13 @@ 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
} else if (command == "reset") {
attitude = Quaternion();
+ gyroBiasFilter.reset();
} else if (command == "reboot") {
ESP.restart();
} else {
@@ -187,7 +210,7 @@ void handleInput() {
while (Serial.available()) {
char c = Serial.read();
- if (c == '\n') {
+ if (c == '\n' || c == '\r') {
doCommand(input);
input.clear();
} else {
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 4de742c..dfa3661 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -9,50 +9,26 @@
#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 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;
-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;
-
Quaternion attitudeTarget;
Vector ratesTarget;
Vector ratesExtra; // feedforward rates
Vector torqueTarget;
float thrustTarget;
+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;
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
@@ -65,16 +41,17 @@ 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;
+ 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
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) {
@@ -91,10 +68,10 @@ 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;
}
}
@@ -147,15 +124,29 @@ 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);
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 MANUAL: return "MANUAL";
+ case RAW: return "RAW";
case ACRO: return "ACRO";
case STAB: return "STAB";
case AUTO: return "AUTO";
diff --git a/flix/estimate.ino b/flix/estimate.ino
index cd8da9f..75c2ec6 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -1,24 +1,29 @@
// 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"
#include "lpf.h"
#include "util.h"
-#define WEIGHT_ACC 0.003
-#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+Vector rates; // estimated angular rates, rad/s
+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() {
// filter gyro to get angular rates
- static LowPassFilter ratesFilter(RATES_LFP_ALPHA);
rates = ratesFilter.update(gyro);
// apply rates to attitude
@@ -27,15 +32,24 @@ 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;
// 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));
}
+
+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);
+ Vector correction = Vector::rotationVectorBetween(Vector(0, 0, 1), up) * levelWeight;
+ attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction));
+}
diff --git a/flix/flix.ino b/flix/flix.ino
index 0062f6d..615664b 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -7,31 +7,23 @@
#include "quaternion.h"
#include "util.h"
-#define SERIAL_BAUDRATE 115200
-#define WIFI_ENABLED 1
-
-float t = NAN; // current step time, s
-float dt; // time delta from previous step, s
-float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
-float controlMode = NAN;
-Vector gyro; // gyroscope data
-Vector acc; // accelerometer data, m/s/s
-Vector rates; // filtered angular rates, rad/s
-Quaternion attitude; // estimated attitude
-bool landed; // are we landed and stationary
-float motors[4]; // normalized motors thrust in range [0..1]
+extern float t, dt;
+extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
+extern Vector gyro, acc;
+extern Vector rates;
+extern Quaternion attitude;
+extern bool landed;
+extern float motors[4];
void setup() {
- Serial.begin(SERIAL_BAUDRATE);
- print("Initializing flix\n");
- disableBrownOut();
+ Serial.begin(115200);
+ print("Initializing Flix\n");
setupParameters();
+ setupPower();
setupLED();
- setupMotors();
setLED(true);
-#if WIFI_ENABLED
+ setupMotors();
setupWiFi();
-#endif
setupIMU();
setupRC();
setLED(false);
@@ -46,9 +38,8 @@ void loop() {
control();
sendMotors();
handleInput();
-#if WIFI_ENABLED
processMavlink();
-#endif
+ readVoltage();
logData();
syncParameters();
}
diff --git a/flix/imu.ino b/flix/imu.ino
index 9fbde5f..0aafb13 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -4,62 +4,81 @@
// 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
+Vector gyroBias;
+
+Vector acc; // accelerometer output, m/s/s
Vector accBias;
Vector accScale(1, 1, 1);
-Vector gyroBias;
+
+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
+
+ // Apply scale and bias
acc = (acc - accBias) / accScale;
gyro = gyro - gyroBias;
- // rotate
- rotateIMU(acc);
- rotateIMU(gyro);
-}
-void rotateIMU(Vector& data) {
- // Rotate from LFD to FLU
- // NOTE: In case of using other IMU orientation, change this line:
- data = Vector(data.y, data.x, -data.z);
- // Axes orientation for various boards: https://github.com/okalachev/flixperiph#imu-axes-orientation
+ // Rotate to body frame
+ Quaternion rotation = Quaternion::fromEuler(imuRotation);
+ acc = Quaternion::rotateVector(acc, rotation.inversed());
+ gyro = Quaternion::rotateVector(gyro, rotation.inversed());
}
void calibrateGyroOnce() {
static Delay landedDelay(2);
if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
- static LowPassFilter gyroCalibrationFilter(0.001);
- gyroBias = gyroCalibrationFilter.update(gyro);
+ gyroBias = gyroBiasFilter.update(gyro);
}
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);
@@ -93,9 +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;
@@ -107,6 +126,7 @@ 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;
@@ -119,16 +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("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
+ 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/log.ino b/flix/log.ino
index 396bbed..6ccd6c6 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();
@@ -62,12 +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/lpf.h b/flix/lpf.h
index 88cf8ab..9ee4e0a 100644
--- a/flix/lpf.h
+++ b/flix/lpf.h
@@ -14,15 +14,10 @@ public:
LowPassFilter(float alpha): alpha(alpha) {};
T update(const T input) {
- if (alpha == 1) { // filter disabled
- return input;
+ if (!init) {
+ init = true;
+ return output = input;
}
-
- if (!initialized) {
- output = input;
- initialized = true;
- }
-
return output += alpha * (input - output);
}
@@ -31,9 +26,9 @@ public:
}
void reset() {
- initialized = false;
+ init = false;
}
private:
- bool initialized = false;
+ bool init = false;
};
diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 8b30e6a..5b4f023 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -3,20 +3,22 @@
// MAVLink communication
-#if WIFI_ENABLED
-
#include
-
-#define SYSTEM_ID 1
-#define PERIOD_SLOW 1.0
-#define PERIOD_FAST 0.1
-#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
-
-bool mavlinkConnected = false;
-String mavlinkPrintBuffer;
+#include "util.h"
extern float controlTime;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern float voltage;
+
+int mavlinkSysId = 1;
+
+Rate telemetrySlow(2);
+Rate telemetryAttitude(20);
+Rate telemetryRC(10);
+Rate telemetryMotors(10);
+Rate telemetryIMU(15);
+
+float mavlinkTime = NAN; // time of last received message
+String mavlinkPrintBuffer;
void processMavlink() {
sendMavlink();
@@ -26,48 +28,58 @@ 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;
-
- 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),
mode, MAV_STATE_STANDBY);
sendMessage(&msg);
+ }
- if (!mavlinkConnected) return; // send only heartbeat until connected
+ if (!valid(mavlinkTime)) return; // send only heartbeat until connected
- mavlink_msg_extended_sys_state_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
+ 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 (t - lastFast >= PERIOD_FAST && mavlinkConnected) {
- lastFast = t;
-
- 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
+ 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);
sendMessage(&msg);
+ }
- mavlink_msg_rc_channels_raw_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
+ 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(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,
- acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd
+ 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,
0, 0, 0, 0);
sendMessage(&msg);
@@ -83,13 +95,13 @@ 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)) {
+ mavlinkTime = t;
handleMavlink(&msg);
}
}
@@ -101,7 +113,7 @@ 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;
@@ -109,18 +121,16 @@ 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) {
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);
}
@@ -129,7 +139,7 @@ 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
@@ -138,7 +148,7 @@ 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);
}
@@ -146,32 +156,33 @@ 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
- 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,
- m.param_id, m.param_value, MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown
+ mavlink_msg_param_value_pack(mavlinkSysId, MAV_COMP_ID_AUTOPILOT1, &msg,
+ m.param_id, getParameter(name), MAV_PARAM_TYPE_REAL32, parametersCount(), 0); // index is unknown
sendMessage(&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
@@ -183,7 +194,7 @@ 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;
@@ -205,7 +216,7 @@ 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();
@@ -214,23 +225,37 @@ 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 != 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(mavlinkSysId, 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;
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);
}
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;
}
@@ -243,7 +268,7 @@ 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);
}
}
@@ -260,7 +285,7 @@ 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);
@@ -268,5 +293,3 @@ void sendMavlinkPrint() {
}
mavlinkPrintBuffer.clear();
}
-
-#endif
diff --git a/flix/motors.ino b/flix/motors.ino
index 30a19f1..db63bc9 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -1,65 +1,68 @@
// 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
+float motors[4]; // normalized motor thrusts in range [0..1]
-#define PWM_FREQUENCY 78000
-#define PWM_RESOLUTION 10
-#define PWM_STOP 0
-#define PWM_MIN 0
-#define PWM_MAX 1000000 / PWM_FREQUENCY
+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
-// Motors array indexes:
-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");
+ print("Setup motors\n");
+ // Configure pins
#ifdef ESP32
- 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++) {
+ if (motorPins[i] < 0) continue; // skip unassigned motors
+ ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
+ pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // when reconfiguring
+ }
#else
- analogWriteResolution(PWM_RESOLUTION);
- analogWriteFrequency(PWM_FREQUENCY);
+ analogWriteResolution(pwmResolution);
+ analogWriteFrequency(pwmFrequency);
#endif
sendMotors();
- print("Motors initialized\n");
+}
+
+void sendMotors() {
+ for (int i = 0; i < 4; i++) {
+ if (motorPins[i] < 0) continue; // skip unassigned motors
+#ifdef ESP32
+ ledcWrite(motorPins[i], getDutyCycle(motors[i]));
+#else
+ analogWrite(motorPins[i], getDutyCycle(motors[i]));
+#endif
+ }
}
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() {
- analogWrite(MOTOR_0_PIN, getDutyCycle(motors[0]));
- analogWrite(MOTOR_1_PIN, getDutyCycle(motors[1]));
- analogWrite(MOTOR_2_PIN, getDutyCycle(motors[2]));
- analogWrite(MOTOR_3_PIN, getDutyCycle(motors[3]));
+ 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() {
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] = 1;
+ 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/flix/parameters.ino b/flix/parameters.ino
index ef2f6a3..4594c3e 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -4,51 +4,100 @@
// Parameters storage in flash memory
#include
+#include "util.h"
-extern float channelZero[16];
-extern float channelMax[16];
-extern float rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern int channelZero[16], channelMax[16];
+extern int rollChannel, pitchChannel, throttleChannel, yawChannel, armedChannel, modeChannel;
+extern int rcRxPin, voltagePin;
+extern int wifiMode, wifiLongRange, wifiBroadcast, udpLocalPort, udpRemotePort, espnowChannel;
+extern float rcLossTimeout, descendTime, disarmTilt;
+extern float voltageScale;
+extern LowPassFilter voltageFilter;
+
+#include "config.h"
Preferences storage;
struct Parameter {
- const char *name; // max length is 16
- float *variable;
- float value; // cache
+ 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) {};
+ 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; };
};
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_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_WU", &yawRatePID.windup},
+ {"CTL_Y_RATE_D_A", &yawRatePID.lpf.alpha},
+ {"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},
+ {"CTL_FLT_MODE_0", &flightModes[0]},
+ {"CTL_FLT_MODE_1", &flightModes[1]},
+ {"CTL_FLT_MODE_2", &flightModes[2]},
// 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_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},
+ {"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},
+ {"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},
+ {"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},
// rc
+ {"RC_RX_PIN", &rcRxPin, setupRC},
{"RC_ZERO_0", &channelZero[0]},
{"RC_ZERO_1", &channelZero[1]},
{"RC_ZERO_2", &channelZero[2]},
@@ -70,17 +119,42 @@ Parameter parameters[] = {
{"RC_THROTTLE", &throttleChannel},
{"RC_YAW", &yawChannel},
{"RC_MODE", &modeChannel},
+ // wifi
+ {"WIFI_MODE", &wifiMode},
+ {"WIFI_PORT_LOC", &udpLocalPort},
+ {"WIFI_PORT_REM", &udpRemotePort},
+ {"WIFI_LONG_RANGE", &wifiLongRange},
+ {"WIFI_BROADCAST", &wifiBroadcast},
+ // espnow
+ {"ESPNOW_CHANNEL", &espnowChannel},
+ // mavlink
+ {"MAV_SYS_ID", &mavlinkSysId},
+ {"MAV_RATE_SLOW", &telemetrySlow.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},
+ {"PWR_VOLT_LPF_A", &voltageFilter.alpha},
+ // safety
+ {"SF_RC_LOSS_TIME", &rcLossTimeout},
+ {"SF_DESCEND_TIME", &descendTime},
+ {"SF_DISARM_TILT", &disarmTilt},
};
void setupParameters() {
- storage.begin("flix", false);
+ print("Setup parameters\n");
+ setDefaults();
+ storage.begin("flix");
// Read parameters from storage
for (auto ¶meter : parameters) {
- if (!storage.isKey(parameter.name)) {
- storage.putFloat(parameter.name, *parameter.variable);
+ parameter.inital = parameter.getValue();
+ if (storage.isKey(parameter.name)) {
+ parameter.setValue(storage.getFloat(parameter.name));
}
- *parameter.variable = storage.getFloat(parameter.name, *parameter.variable);
- parameter.value = *parameter.variable;
+ parameter.cache = parameter.getValue();
}
}
@@ -95,13 +169,13 @@ 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;
+ if (strcasecmp(parameter.name, name) == 0) {
+ return parameter.getValue();
}
}
return NAN;
@@ -109,8 +183,10 @@ 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 (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;
}
}
@@ -118,22 +194,28 @@ 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;
- if (isnan(parameter.value) && isnan(*parameter.variable)) continue; // handle NAN != NAN
- storage.putFloat(parameter.name, *parameter.variable);
- parameter.value = *parameter.variable;
+ if (floatEquals(parameter.getValue(), parameter.cache)) continue; // no change
+
+ storage.putFloat(parameter.name, parameter.getValue());
+ parameter.cache = parameter.getValue(); // update cache
}
}
-void printParameters() {
+void printParameters(const char *filter) {
+ print("Name Value [Default]\n");
for (auto ¶meter : parameters) {
- print("%s = %g\n", parameter.name, *parameter.variable);
+ if (strncasecmp(parameter.name, filter, strlen(filter))) continue;
+
+ 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/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) {
diff --git a/flix/power.ino b/flix/power.ino
new file mode 100644
index 0000000..93e3038
--- /dev/null
+++ b/flix/power.ino
@@ -0,0 +1,29 @@
+// Copyright (c) 2026 Oleg Kalachev
+// Repository: https://github.com/okalachev/flix
+
+// Power management
+
+#include
+#include
+#include "lpf.h"
+#include "util.h"
+
+float voltage = NAN;
+LowPassFilter voltageFilter(1);
+int voltagePin = -1;
+float voltageScale = 2;
+
+void setupPower() {
+ 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() {
+ 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/flix/rc.ino b/flix/rc.ino
index 21c03ae..ec02a30 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -6,30 +6,33 @@
#include
#include "util.h"
-SBUS rc(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
+SBUS rc(Serial1);
+int rcRxPin = -1; // -1 means disabled
uint16_t channels[16]; // raw rc channels
-float controlTime; // time of the last controls update
-float channelZero[16]; // calibration zero values
-float channelMax[16]; // calibration max values
+int channelZero[16]; // calibration zero values
+int channelMax[16]; // calibration max values
-// Channels mapping (using float to store in parameters):
-float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
+float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
+float controlMode = NAN;
+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 (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 (rcRxPin < 0) return false;
+ if (!rc.read()) return false;
+
+ rc.getChannels(channels);
+ normalizeRC();
+ controlTime = t;
+ return true;
}
void normalizeRC() {
@@ -38,30 +41,35 @@ void normalizeRC() {
controls[i] = mapf(channels[i], channelZero[i], channelMax[i], 0, 1);
}
// Update control values
- controlRoll = rollChannel >= 0 ? controls[(int)rollChannel] : NAN;
- controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN;
- controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN;
- controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN;
- controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
+ controlRoll = rollChannel < 0 ? 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() {
- uint16_t zero[16];
- uint16_t center[16];
- uint16_t max[16];
+ if (rcRxPin < 0) {
+ 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
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();
}
-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
@@ -82,15 +90,15 @@ 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/flix/safety.ino b/flix/safety.ino
index 35ece02..4e7e9dc 100644
--- a/flix/safety.ino
+++ b/flix/safety.ino
@@ -3,22 +3,23 @@
// 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;
+float disarmTilt = radians(120);
+
void failsafe() {
rcLossFailsafe();
autoFailsafe();
+ tiltFailsafe();
}
// 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 +28,7 @@ void rcLossFailsafe() {
void descend() {
mode = AUTO;
attitudeTarget = Quaternion();
- thrustTarget -= dt / DESCEND_TIME;
+ thrustTarget -= dt / descendTime;
if (thrustTarget < 0) {
thrustTarget = 0;
armed = false;
@@ -37,12 +38,24 @@ 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) {
- // controls changed
- if (mode == AUTO) mode = STAB; // regain control by the pilot
+ 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
}
roll = controlRoll;
pitch = controlPitch;
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/flix/time.ino b/flix/time.ino
index b57b5bc..f3ba3d1 100644
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -3,6 +3,8 @@
// Time related functions
+float t = NAN; // current time, s
+float dt; // time delta with the previous step, s
float loopRate; // Hz
void step() {
diff --git a/flix/util.h b/flix/util.h
index 39eb28a..62b2e59 100644
--- a/flix/util.h
+++ b/flix/util.h
@@ -9,6 +9,7 @@
#ifdef ESP32
#include
#include
+#include
#endif
const float ONE_G = 9.80665;
@@ -26,6 +27,12 @@ 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);
@@ -37,37 +44,63 @@ float wrapAngle(float angle) {
return angle;
}
-// Disable reset on low voltage
-void disableBrownOut() {
-#ifdef ESP32
- REG_CLR_BIT(RTC_CNTL_BROWN_OUT_REG, RTC_CNTL_BROWN_OUT_ENA);
-#endif
-}
-
// 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 = "";
}
+#ifdef ESP32
+// 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 {
+ if (!success) lost++;
+ ESP_NOW_Serial_Class::onSent(true); // always report success to avoid resends
+ }
+};
+#endif
+
+// Rate limiter
+class Rate {
+public:
+ float rate;
+ float last = -INFINITY;
+ Rate(float rate) : rate(rate) {}
+
+ operator bool() {
+ if (t == last) {
+ return true; // the same step
+ }
+ if (t - last >= 1 / rate) {
+ last = t;
+ return true;
+ }
+ return false;
+ }
+};
+
// Delay filter for boolean signals - ensures the signal is on for at least 'delay' seconds
class Delay {
public:
float delay;
float start = NAN;
-
Delay(float delay) : delay(delay) {}
bool update(bool on) {
if (!on) {
start = NAN;
return false;
- }
- if (isnan(start)) {
+ } else if (isnan(start)) {
start = t;
}
return t - start >= delay;
diff --git a/flix/vector.h b/flix/vector.h
index 272e1db..74293fa 100644
--- a/flix/vector.h
+++ b/flix/vector.h
@@ -35,7 +35,6 @@ public:
z = NAN;
}
-
float norm() const {
return sqrt(x * x + y * y + z * z);
}
@@ -106,10 +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);
diff --git a/flix/wifi.ino b/flix/wifi.ino
index e003375..778e422 100644
--- a/flix/wifi.ino
+++ b/flix/wifi.ino
@@ -1,38 +1,154 @@
// Copyright (c) 2023 Oleg Kalachev
// Repository: https://github.com/okalachev/flix
-// Wi-Fi support
-
-#if WIFI_ENABLED
+// Wi-Fi and ESP-NOW communication
#include
#include
#include
+#include
+#include
+#include
+#include "util.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, 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";
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.softAP(WIFI_SSID, WIFI_PASSWORD);
- udp.begin(WIFI_UDP_PORT);
+ 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);
+ }
+
+ if (wifiMode == W_STA) {
+ WiFi.begin(storage.getString("WIFI_STA_SSID", "").c_str(), storage.getString("WIFI_STA_PASS", "").c_str());
+ udp.begin(udpLocalPort);
+ }
+
+ 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
}
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 (espnow) {
+ espnow.write(buf, len);
+
+ static Rate discovery(2);
+ if (espnow.isEncrypted() && discovery) espnowBroadcast.write((const uint8_t *)"flix", 4); // broadcast message to help finding this device
+ return;
+ }
+
+ if (WiFi.softAPgetStationNum() == 0 && !WiFi.isConnected()) return;
+
+ 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();
}
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);
}
-#endif
+void printWiFiInfo() {
+ 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());
+ 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());
+ 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("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");
+ }
+ print("MAVLink connected: %d\n", valid(mavlinkTime));
+}
+
+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 {
+ print("Invalid configuration\n");
+ return;
+ }
+ 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/Arduino.h b/gazebo/Arduino.h
index 1ca8089..6122225 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;
@@ -149,7 +151,7 @@ public:
void setRxInvert(bool invert) {};
};
-HardwareSerial Serial, Serial2;
+HardwareSerial Serial, Serial1, Serial2;
class EspClass {
public:
@@ -165,6 +167,9 @@ 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;
unsigned long __resetTime = 0;
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/gazebo/README.md b/gazebo/README.md
index c7e2608..226312a 100644
--- a/gazebo/README.md
+++ b/gazebo/README.md
@@ -1,15 +1,99 @@
-# Gazebo Simulation
+# Simulation
-
+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).
+
+
+## Installation
+
+1. Clone the Flix repository using it:
+
+ ```bash
+ git clone https://github.com/okalachev/flix.git && cd flix
+ ```
+
+2. Install Arduino CLI:
+
+ ```bash
+ curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
+ ```
+
+3. Install Gazebo 11:
+
+ ```bash
+ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+ wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+ sudo apt-get update
+ sudo apt-get install -y gazebo11 libgazebo11-dev
+ ```
+
+ Set up your Gazebo environment variables:
+
+ ```bash
+ echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+ source ~/.bashrc
+ ```
+
+4. Install SDL2 and other dependencies:
+
+ ```bash
+ sudo apt-get update && sudo apt-get install build-essential libsdl2-dev
+ ```
+
+5. Add your user to the `input` group to enable joystick support (you need to re-login after this command):
+
+ ```bash
+ sudo usermod -a -G input $USER
+ ```
+
+6. Run the simulation:
+
+ ```bash
+ make simulator
+ ```
+
+## Usage
+
+Just like the real drone, the simulator can be controlled using a USB remote control or a smartphone.
+
+### Control with smartphone
+
+1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone. For **iOS**, use [QGroundControl build from TAJISOFT](https://apps.apple.com/ru/app/qgc-from-tajisoft/id1618653051).
+2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
+3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
+4. Run the simulation.
+5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically.
+6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+7. Use the virtual joystick to fly the drone!
+
+> [!TIP]
+> Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
+
+### Control with USB remote control
+
+1. Connect your USB remote control to the machine running the simulator.
+2. Run the simulation.
+3. Calibrate the RC using `cr` command in the command line interface.
+4. Use the USB remote control to fly the drone!
+
+### Piloting
+
+To start the flight, arm the drone moving the throttle stick to the bottom right position:
+
+
+
+To disarm, move the throttle stick to the bottom left position:
+
+
+
+See other piloting and usage details in general [usage article](../docs/usage.md).
## Code structure
-Flix simulator is based on [Gazebo Classic](https://classic.gazebosim.org) and consists of the following components:
+Flix simulator consists of the following components:
-* Physical model of the drone: [`models/flix/flix.sdf`](models/flix/flix.sdf).
+* Physical model of the drone in Gazebo format: [`models/flix/flix.sdf`](models/flix/flix.sdf).
* Plugin for Gazebo: [`simulator.cpp`](simulator.cpp). The plugin is attached to the physical model. It receives stick positions from the controller, gets the data from the virtual sensors, and then passes this data to the Arduino code.
-* Arduino imitation: [`Arduino.h`](Arduino.h). This file contains partial implementation of the Arduino API, that is working within Gazebo plugin environment.
+* Arduino emulation: [`Arduino.h`](Arduino.h). This file contains partial implementation of the Arduino API, that is working within Gazebo plugin environment.
diff --git a/gazebo/SBUS.h b/gazebo/SBUS.h
index eb6b2ec..d28dd3e 100644
--- a/gazebo/SBUS.h
+++ b/gazebo/SBUS.h
@@ -13,14 +13,13 @@ 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;
- 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;
};
};
diff --git a/gazebo/flix.h b/gazebo/flix.h
index cc0af04..62593e7 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -9,43 +9,50 @@
#include "quaternion.h"
#include "Arduino.h"
#include "wifi.h"
+#include "lpf.h"
-#define WIFI_ENABLED 1
+extern float t, dt;
+extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
+extern Vector rates;
+extern Quaternion attitude;
+extern bool landed;
+extern float motors[4];
-float t = NAN;
-float dt;
-float motors[4];
-float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
-float controlMode = NAN;
-Vector acc;
-Vector gyro;
-Vector rates;
-Quaternion attitude;
-bool landed;
+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();
void computeLoopRate();
void applyGyro();
void applyAcc();
+void applyLevel();
void control();
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);
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);
void handleInput();
+void setupRC();
void normalizeRC();
void calibrateRC();
-void calibrateRCChannel(float *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 dumpLog();
+void printLogHeader();
+void printLogData();
void processMavlink();
void sendMavlink();
void sendMessage(const void *msg);
@@ -54,22 +61,25 @@ 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();
void autoFailsafe();
+void tiltFailsafe();
int parametersCount();
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
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() {};
-Vector accBias, gyroBias, accScale(1, 1, 1);
+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"); };
diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp
index b25e717..60bf190 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"
@@ -54,6 +55,7 @@ public:
initNode();
Serial.begin(0);
setupParameters();
+ rcRxPin = 1; // set rc pin to enable rc reading
gzmsg << "Flix plugin loaded" << endl;
}
@@ -72,6 +74,8 @@ 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/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) {}
diff --git a/gazebo/wifi.h b/gazebo/wifi.h
index 426f2d8..b01bac0 100644
--- a/gazebo/wifi.h
+++ b/gazebo/wifi.h
@@ -11,9 +11,15 @@
#include
#include
-#define WIFI_UDP_PORT 14580
-#define WIFI_UDP_REMOTE_PORT 14550
-#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
+// 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";
int wifiSocket;
@@ -22,22 +28,22 @@ 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));
}
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);
+ }
+ }
+}
diff --git a/tools/example.py b/tools/example.py
index 909d408..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)
@@ -23,11 +24,11 @@ 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/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:
diff --git a/tools/log.py b/tools/log.py
index 547f48a..d638d9c 100755
--- a/tools/log.py
+++ b/tools/log.py
@@ -3,21 +3,50 @@
# Download flight log remotely and save to file
import os
+import time
import datetime
+import struct
+from pymavlink.dialects.v20.common import MAVLink_log_data_message
from pyflix import Flix
DIR = os.path.dirname(os.path.realpath(__file__))
-
flix = Flix()
print('Downloading log...')
-lines = flix.cli('log').splitlines()
-# sort by timestamp
-header = lines.pop(0)
-lines.sort(key=lambda line: float(line.split(',')[0]))
+header = flix.cli('log')
+print('Received header:\n- ' + '\n- '.join(header.split(',')))
+records = []
+
+def on_record(msg: MAVLink_log_data_message):
+ global stop
+ stop = time.time() + 1 # extend timeout
+ records.append([])
+ i = 0
+ data = bytes(msg.data)
+ while i + 4 <= msg.count:
+ records[-1].append(struct.unpack(' [!NOTE]
-> The library uses the Front-Left-Up coordinate system — the same as in the firmware. All angles are in radians.
+The library uses the Front-Left-Up coordinate system — the same as the firmware:
+
+
+
+All angles are in radians.
### Events
@@ -89,36 +95,37 @@ 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*)|
-|`print`|The drone sends text to the console|Text|
-|`attitude`|Attitude update|Attitude quaternion (*list*)|
-|`attitude_euler`|Attitude update|Euler angles (*list*)|
-|`rates`|Angular rates update|Angular rates (*list*)|
-|`channels`|Raw RC channels update|Raw RC channels (*list*)|
-|`motors`|Motors outputs update|Motors outputs (*list*)|
-|`acc`|Accelerometer update|Accelerometer output (*list*)|
-|`gyro`|Gyroscope update|Gyroscope output (*list*)|
+|`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)*|
+|`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|
|`value`|Named value update (see below)|Name, value|
-|`value.`|Specific named value update (see bellow)|Value|
+|`value.`|Specific named value update (see below)|Value|
> [!NOTE]
-> Update events trigger on every new data from the drone, and do not mean the value is changed.
+> Update events trigger on every new piece of data from the drone, and do not mean the value has changed.
-### Common methods
+### Basic methods
Get and set firmware parameters using `get_param` and `set_param` methods:
```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 CLI commands using `cli` method. This method returns command response:
+Execute console commands using `cli` method. This method returns the command response:
```python
imu = flix.cli('imu') # get detailed IMU data
@@ -136,7 +143,7 @@ flix.set_armed(True) # arm the drone
flix.set_armed(False) # disarm the drone
```
-You can imitate pilot's controls using `set_controls` method:
+You can pass pilot's controls using `set_controls` method:
```python
flix.set_controls(roll=0, pitch=0, yaw=0, throttle=0.6)
@@ -166,10 +173,10 @@ Setting angular rates target:
flix.set_rates([0.1, 0.2, 0.3], 0.6) # set target roll rate, pitch rate, yaw rate and thrust
```
-You also can control raw motors outputs directly:
+You also can control raw motor outputs directly:
```python
-flix.set_motors([0.5, 0.5, 0.5, 0.5]) # set motors outputs in range [0, 1]
+flix.set_motors([0.5, 0.5, 0.5, 0.5]) # set motor outputs in range [0, 1]
```
In *AUTO* mode, the drone will arm automatically if the thrust is greater than zero, and disarm if thrust is zero. Therefore, to disarm the drone, set thrust to zero:
@@ -183,7 +190,7 @@ 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
@@ -215,6 +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
@@ -274,7 +288,3 @@ 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.
diff --git a/tools/pyflix/flix.py b/tools/pyflix/flix.py
index 2ee9729..b7166f1 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
@@ -17,7 +18,7 @@ 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)
@@ -26,6 +27,7 @@ class Flix:
mode: str = ''
armed: bool = False
landed: bool = False
+ voltage: float = math.nan
attitude: List[float]
attitude_euler: List[float] # roll, pitch, yaw
rates: List[float]
@@ -40,24 +42,29 @@ 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):
+ 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]]] = {}
@@ -68,7 +75,7 @@ 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]
@@ -138,7 +145,7 @@ 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()
@@ -185,11 +192,16 @@ 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)
+ 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 673fca6..d81174b 100644
--- a/tools/pyproject.toml
+++ b/tools/pyproject.toml
@@ -1,6 +1,6 @@
[project]
name = "pyflix"
-version = "0.9"
+version = "0.16"
description = "Python API for Flix drone"
authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
license = "MIT"
-## Articles
+## Documentation articles
+
+1. [Assembly instructions](docs/assembly.md).
+2. [Usage: build, setup and flight](docs/usage.md).
+3. [Simulation](gazebo/README.md).
+4. [Python library](tools/pyflix/README.md).
+
+Additional articles:
-* [Assembly instructions](docs/assembly.md).
-* [Usage: build, setup and flight](docs/usage.md).
-* [Troubleshooting](docs/troubleshooting.md).
-* [Firmware architecture overview](docs/firmware.md).
-* [Python library tutorial](tools/pyflix/README.md).
-* [Log analysis](docs/log.md).
* [User builds gallery](docs/user.md).
+* [Firmware architectural overview](docs/firmware.md).
+* [Troubleshooting](docs/troubleshooting.md).
+* [Log analysis](docs/log.md).
## Components
|Type|Part|Image|Quantity|
|-|-|:-:|:-:|
-|Microcontroller board|ESP32 Mini|
|1|
-|IMU (and barometer²) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)
|1|
-|
|1|
-|Motor|8520 3.7V brushed motor (shaft 0.8mm).
|4|
-|Propeller|Hubsan 55 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|
+|Microcontroller board|ESP32 Mini.
|1|
|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:
|1|
-|Frame top part|3D printed:
|1|
-|Washer for IMU board mounting|3D printed:
|2|
+|Frame main part|3D printed²: [`stl`](docs/assets/flix-frame-1.1.stl) [`step`](docs/assets/flix-frame-1.1.step)
|1|
-|*RC receiver (optional)*|*DF500 or other⁵*|
|1|
+|*RC receiver (optional)*|*DF500 or other³*|
||
|Tape, double-sided tape||||
-*² — barometer is not used for now.*
-*(Dashed is optional).*
+*(Dashed elements are optional).*
Motor connection scheme:
@@ -116,8 +133,6 @@ Motor connection scheme:
You can see a user-contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612338222067&cot=14) of the drone.
-See [assembly guide](docs/assembly.md) for instructions on assembling the drone.
-
### Notes
* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.
@@ -135,14 +150,15 @@ See [assembly guide](docs/assembly.md) for instructions on assembling the drone.
* Solder pull-down resistors to the MOSFETs.
* Connect the motors to the ESP32 Mini using MOSFETs, by following scheme:
- |Motor|Position|Direction|Wires|GPIO|
- |-|-|-|-|-|
- |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12 (*TDI*)|
- |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13 (*TCK*)|
- |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14 (*TMS*)|
- |Motor 3|Front left|Clockwise|Blue & Red|GPIO15 (*TD0*)|
+ |Motor|Position|Direction|Prop type|Motor wires|GPIO|
+ |-|-|-|-|-|-|
+ |Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
+ |Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
+ |Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
+ |Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
- Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires.
+ Clockwise motors have blue & red wires and correspond to propeller type A (marked on the propeller).
+ Counter-clockwise motors have black & white wires correspond to propeller type B.
* Optionally connect the RC receiver to the ESP32's UART2:
@@ -150,32 +166,20 @@ 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)|GPIO4|
-*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.*
+* Optionally connect the battery voltage divider for voltage monitoring to any ADC1 pin (e. g. *GPIO32* on ESP32, *GPIO3* on ESP32-S3).
-### IMU placement
+ 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.
-Default IMU orientation in the code is **LFD** (Left-Forward-Down):
+## Resources
-
-
-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 (English / Russian).
+* 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/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
diff --git a/docs/assembly.md b/docs/assembly.md
index ce0dd36..a332272 100644
--- a/docs/assembly.md
+++ b/docs/assembly.md
@@ -27,3 +27,29 @@ 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]
+> The drone above is an early build, and it has **inversed** motor directions scheme. The photos only illustrate the assembly process in general.
+
+Use standard motor directions scheme:
+
+
+
+Motors connection table:
+
+|Motor|Position|Direction|Prop type|Motor wires|GPIO|
+|-|-|-|-|-|-|
+|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
+|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
+|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
+|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
+
+## Motors tightening
+
+Motors should be installed very tightly — any vibration may lead to bad attitude estimation and unstable flight. If motors are loose, use tiny tape pieces to fix them tightly as shown below:
+
+
diff --git a/docs/book/firmware.md b/docs/book/firmware.md
index 7f36917..eb3c1c3 100644
--- a/docs/book/firmware.md
+++ b/docs/book/firmware.md
@@ -12,8 +12,8 @@
* `acc` *(Vector)* — данные с акселерометра, *м/с2*.
* `rates` *(Vector)* — отфильтрованные угловые скорости, *рад/с*.
* `attitude` *(Quaternion)* — оценка ориентации (положения) дрона.
-* `controlRoll`, `controlPitch`, ... *(float[])* — команды управления от пилота, в диапазоне [-1, 1].
-* `motors` *(float[])* — выходные сигналы на моторы, в диапазоне [0, 1].
+* `controlRoll`, `controlPitch`, `controlYaw`, `controlThrottle`, `controlMode` *(float)* — команды управления от пилота, в диапазоне [-1, 1].
+* `motors` *(float[4])* — выходные сигналы на моторы, в диапазоне [0, 1].
## Исходные файлы
@@ -35,7 +35,7 @@
### Подсистема управления
-Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в *команду управления*, которая включает следующее:
+Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в **команду управления**, которая включает следующее:
* `attitudeTarget` *(Quaternion)* — целевая ориентация дрона.
* `ratesTarget` *(Vector)* — целевые угловые скорости, *рад/с*.
diff --git a/docs/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);
-The main loop is running at 1000 Hz. All the dataflow goes through global variables (for simplicity):
+The main loop is running at 1000 Hz. The dataflow goes through global variables, including:
* `t` *(float)* — current step time, *s*.
* `dt` *(float)* — time delta between the current and previous steps, *s*.
@@ -14,12 +14,12 @@ The main loop is running at 1000 Hz. All the dataflow goes through global variab
* `acc` *(Vector)* — acceleration data from the accelerometer, *m/s2*.
* `rates` *(Vector)* — filtered angular rates, *rad/s*.
* `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
-* `controlRoll`, `controlPitch`, ... *(float[])* — pilot control inputs, range [-1, 1].
-* `motors` *(float[])* — motor outputs, range [0, 1].
+* `controlRoll`, `controlPitch`, `controlYaw`, `controlThrottle`, `controlMode` *(float)* — pilot control inputs, range [-1, 1].
+* `motors` *(float[4])* — motor outputs, range [0, 1].
## Source files
-Firmware source files are located in `flix` directory. The core files are:
+Firmware source files are located in `flix` directory.
* [`flix.ino`](../flix/flix.ino) — Arduino sketch main file, entry point.Includes some global variable definitions and the main loop.
* [`imu.ino`](../flix/imu.ino) — reading data from the IMU sensor (gyroscope and accelerometer), IMU calibration.
@@ -28,6 +28,7 @@ Firmware source files are located in `flix` directory. The core files are:
* [`control.ino`](../flix/control.ino) — control subsystem, three-dimensional two-level cascade PID controller.
* [`motors.ino`](../flix/motors.ino) — PWM motor output control.
* [`mavlink.ino`](../flix/mavlink.ino) — interaction with QGroundControl or [pyflix](../tools/pyflix) via MAVLink protocol.
+* [`cli.ino`](../flix/cli.ino) — serial and MAVLink console.
Utility files:
@@ -37,20 +38,67 @@ Utility files:
### Control subsystem
-Pilot inputs are interpreted in `interpretControls()`, and then converted to the *control command*, which consists of the following:
+Pilot inputs are interpreted in `interpretControls()`, and then converted to the **control command**, which consists of the following:
* `attitudeTarget` *(Quaternion)* — target attitude of the drone.
* `ratesTarget` *(Vector)* — target angular rates, *rad/s*.
-* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates , used for yaw rate control in STAB mode, *rad/s*.
+* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates, used for yaw rate control in STAB mode, *rad/s*.
* `torqueTarget` *(Vector)* — target torque, range [-1, 1].
-* `thrustTarget` *(float)* — collective thrust target, range [0, 1].
+* `thrustTarget` *(float)* — collective motor thrust target, range [0, 1].
-Control command is processed in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding target is set to `NAN`.
+Control command is handled in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding control target is set to `NAN`.
Armed state is stored in `armed` variable, and current mode is stored in `mode` variable.
-## Building
+### Console
+
+To write into the console, `print()` function is used. This function sends data both to the Serial console and to the MAVLink console (which can be accessed wirelessly in QGroundControl). The function supports formatting:
+
+```cpp
+print("Test value: %.2f\n", testValue);
+```
+
+In order to add a console command, modify the `doCommand()` function in `cli.ino` file.
+
+> [!IMPORTANT]
+> Avoid using delays in in-flight commands, it will **crash** the drone! (The design is one-threaded.)
+>
+> For on-the-ground commands, use `pause()` function, instead of `delay()`. This function allows to pause in a way that MAVLink connection will continue working.
+
+### 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).
+
+> [!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:
+
+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).
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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/troubleshooting.md b/docs/troubleshooting.md
index 509fd11..28af53f 100644
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -4,34 +4,44 @@
Do the following:
-* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#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 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 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
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 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 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.
+* **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.
+* **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 shown in QGroundControl is correct.
-* **Check the IMU orientation is set correctly**. If the attitude estimation is rotated, make sure `rotateIMU` function is defined correctly in `imu.ino` file.
+* **Check the 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:
+
+ 
+
+* **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 controls** using `rc` command. All the controls should change between -1 and 1, and the throttle between 0 and 1.
diff --git a/docs/usage.md b/docs/usage.md
index e6267a2..1b8b13f 100644
--- a/docs/usage.md
+++ b/docs/usage.md
@@ -1,130 +1,67 @@
# 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 upload the firmware to the ESP32 board, and set up the drone for flight.
-For the start, 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
+git clone https://github.com/okalachev/flix.git && cd flix
```
-## Simulation
+Beginners can [download the sources as a ZIP archive](https://github.com/okalachev/flix/archive/refs/heads/master.zip).
-### Ubuntu
+#### Arduino IDE (Windows, Linux, macOS)
-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
-
-### 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).
-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.
+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 3.3.10. 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 2.0.16.
-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.
+ * `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, *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.
-### Command line (Windows, Linux, macOS)
+#### 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 +86,163 @@ 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).
+ 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:FlashSize=4M,CDCOnBoot=cdc upload
+ ```
+
+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
+
+### 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.
+
+> [!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)**.
+
+To access the console using serial port:
+
+1. Connect the ESP32 board to the computer using USB cable.
+2. Open Serial Monitor in Arduino IDE (or use `make monitor` in the command line).
+3. In Arduino IDE, make sure the baudrate is set to 115200.
+
+To access the console using QGroundControl:
+
+1. Connect to the drone using QGroundControl app.
+2. Go to the QGroundControl menu ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
+
+
+
+> [!TIP]
+> Use `help` command to see the list of available commands.
+
+### Access parameters
+
+The drone is configured using parameters. To access and modify them, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*:
+
+
+
+You can also work with parameters using `p` command in the console. 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`.
+
+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:
+
+
+
+Use the following table to set the parameters for common IMU orientations:
+
+|Orientation|Parameters|Orientation|Parameters|
+|:-:|-|-|-|
+|
|`IMU_ROT_ROLL` = 0
|`IMU_ROT_ROLL` = 3.142
|`IMU_ROT_ROLL` = 0
|`IMU_ROT_ROLL` = 3.142
|`IMU_ROT_ROLL` = 0
|`IMU_ROT_ROLL` = 3.142
|`IMU_ROT_ROLL` = 3.142
+
+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.
@@ -171,17 +252,19 @@ Before flight you need to calibrate the accelerometer:
6. Use the virtual joystick to fly the drone!
> [!TIP]
-> Decrease `TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
+> Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
-#### Control with remote control
+### Control with a remote control
-Before flight using remote control, you need to calibrate it:
+If using SBUS-connected remote control you need to enable SBUS and 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.
-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. 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!
-#### Control with USB remote control (Wi-Fi)
+### Control with a USB remote control
If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
@@ -190,12 +273,9 @@ 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!
-> [!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:
@@ -214,13 +294,16 @@ 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.
+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
-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.
@@ -229,24 +312,87 @@ 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
-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.
+If the pilot moves the control sticks and mode switch is not configured, the drone will switch back to *STAB* mode.
-## Adjusting parameters
+## Wi-Fi configuration
-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 configure the Wi-Fi using parameters and console commands.
-
+
+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 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
+ ```
+
+ 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:
+
+ ```
+ 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*, 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
+
+After the flight, you can download the flight log wirelessly for analysis. Use the following command on your computer for that:
+
+```bash
+make log
+```
+
+See more details about log analysis in the [log analysis](log.md) article.
diff --git a/docs/user.md b/docs/user.md
index 786aced..ee57b6f 100644
--- a/docs/user.md
+++ b/docs/user.md
@@ -4,12 +4,170 @@ This page contains user-built drones based on the Flix project. Publish your pro
---
+Author: [Oleg1405](https://t.me/Oleg1405).
+
+[Flight video](https://www.youtube.com/shorts/rbXV4sHbpso).
+
+---
+
+Author: Alican Erüst.
+
+[Flight video](https://drive.google.com/file/d/1k0WeWTKnCAfaugkX7LcmNxsUuq79RL8Z/view?usp=sharing).
+
+---
+
+Author: [Неруш Михаил](https://t.me/NerushMV).
+
+[Flight video](https://drive.google.com/file/d/1jRXeGx34lJpUfw0GKLQeIzkWZvooQJSE/view?usp=sharing).
+
+---
+
+Author: [Konstantinos Paraskevas](https://github.com/Frapais).
+
+Detailed video about making the drone:
+
+
+
+---
+
+Author: [Ina Tix](https://t.me/ina_tix).
+
+---
+
+Author: Oleg Kalachev.
+
+---
+
+Author: [FanBy0ru](https://https://github.com/FanBy0ru).
+
+---
+
+Author: Ivan44 Phalko.
+
+---
+
+Author: **Arkadiy "Arky" Matsekh**, Foucault Dynamics, Gold Coast, Australia.
+
+---
+
+Author: [goldarte](https://t.me/goldarte).
+
+**Flight video:**
+
+
+
+---
+
+## School 548 course
+
+Special course on quadcopter design and engineering took place in october-november 2025 in School 548, Moscow. The course included UAV control theory, electronics, drone assembly and setup practice, using the Flix project.
+
+
+
+STL files and other materials: see [here](https://drive.google.com/drive/folders/1wTUzj087LjKQQl3Lz5CjHCuobxoykhyp?usp=share_link).
+
+### Selected works
+
+Author: [KiraFlux](https://t.me/@kiraflux_0XC0000005).
+
+**ESPNOW remote control demonstration**:
+
+
+
+**Video streaming and flight demonstration**:
+
+
+
+**Flight video**:
+
+
|4|
|Propeller|Hubsan 55 mm|
|4|
|Motor ESC|2.7A 1S Dual Way Micro Brush ESC|
|4|
-|RC transmitter|KINGKONG TINY X8|
|1|
+|RC transmitter|KINGKONG TINY X8|
|1|
|RC receiver|DF500 (SBUS)|
|1|
|~~SBUS inverter~~*||
|~~1~~|
|Battery|3.7 Li-Po 850 MaH 60C|||
diff --git a/flix/cli.ino b/flix/cli.ino
index 90ccbec..4926243 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -6,56 +6,64 @@
#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 ACRO, STAB, AUTO;
+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 controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern float controlTime;
extern int mode;
extern bool armed;
+extern LowPassFilter
+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).
+
+
+## Installation
+
+1. Clone the Flix repository using it:
+
+ ```bash
+ git clone https://github.com/okalachev/flix.git && cd flix
+ ```
+
+2. Install Arduino CLI:
+
+ ```bash
+ curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
+ ```
+
+3. Install Gazebo 11:
+
+ ```bash
+ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+ wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+ sudo apt-get update
+ sudo apt-get install -y gazebo11 libgazebo11-dev
+ ```
+
+ Set up your Gazebo environment variables:
+
+ ```bash
+ echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+ source ~/.bashrc
+ ```
+
+4. Install SDL2 and other dependencies:
+
+ ```bash
+ sudo apt-get update && sudo apt-get install build-essential libsdl2-dev
+ ```
+
+5. Add your user to the `input` group to enable joystick support (you need to re-login after this command):
+
+ ```bash
+ sudo usermod -a -G input $USER
+ ```
+
+6. Run the simulation:
+
+ ```bash
+ make simulator
+ ```
+
+## Usage
+
+Just like the real drone, the simulator can be controlled using a USB remote control or a smartphone.
+
+### Control with smartphone
+
+1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone. For **iOS**, use [QGroundControl build from TAJISOFT](https://apps.apple.com/ru/app/qgc-from-tajisoft/id1618653051).
+2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
+3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
+4. Run the simulation.
+5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically.
+6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+7. Use the virtual joystick to fly the drone!
+
+> [!TIP]
+> Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
+
+### Control with USB remote control
+
+1. Connect your USB remote control to the machine running the simulator.
+2. Run the simulation.
+3. Calibrate the RC using `cr` command in the command line interface.
+4. Use the USB remote control to fly the drone!
+
+### Piloting
+
+To start the flight, arm the drone moving the throttle stick to the bottom right position:
+
+
+
+To disarm, move the throttle stick to the bottom left position:
+
+
+
+See other piloting and usage details in general [usage article](../docs/usage.md).
## Code structure
-Flix simulator is based on [Gazebo Classic](https://classic.gazebosim.org) and consists of the following components:
+Flix simulator consists of the following components:
-* Physical model of the drone: [`models/flix/flix.sdf`](models/flix/flix.sdf).
+* Physical model of the drone in Gazebo format: [`models/flix/flix.sdf`](models/flix/flix.sdf).
* Plugin for Gazebo: [`simulator.cpp`](simulator.cpp). The plugin is attached to the physical model. It receives stick positions from the controller, gets the data from the virtual sensors, and then passes this data to the Arduino code.
-* Arduino imitation: [`Arduino.h`](Arduino.h). This file contains partial implementation of the Arduino API, that is working within Gazebo plugin environment.
+* Arduino emulation: [`Arduino.h`](Arduino.h). This file contains partial implementation of the Arduino API, that is working within Gazebo plugin environment.
diff --git a/gazebo/SBUS.h b/gazebo/SBUS.h
index eb6b2ec..d28dd3e 100644
--- a/gazebo/SBUS.h
+++ b/gazebo/SBUS.h
@@ -13,14 +13,13 @@ 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;
- 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;
};
};
diff --git a/gazebo/flix.h b/gazebo/flix.h
index cc0af04..62593e7 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -9,43 +9,50 @@
#include "quaternion.h"
#include "Arduino.h"
#include "wifi.h"
+#include "lpf.h"
-#define WIFI_ENABLED 1
+extern float t, dt;
+extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
+extern Vector rates;
+extern Quaternion attitude;
+extern bool landed;
+extern float motors[4];
-float t = NAN;
-float dt;
-float motors[4];
-float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
-float controlMode = NAN;
-Vector acc;
-Vector gyro;
-Vector rates;
-Quaternion attitude;
-bool landed;
+Vector gyro, acc, imuRotation;
+Vector accBias, gyroBias, accScale(1, 1, 1);
+LowPassFilter
+
+All angles are in radians.
### Events
@@ -89,36 +95,37 @@ 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*)|
-|`print`|The drone sends text to the console|Text|
-|`attitude`|Attitude update|Attitude quaternion (*list*)|
-|`attitude_euler`|Attitude update|Euler angles (*list*)|
-|`rates`|Angular rates update|Angular rates (*list*)|
-|`channels`|Raw RC channels update|Raw RC channels (*list*)|
-|`motors`|Motors outputs update|Motors outputs (*list*)|
-|`acc`|Accelerometer update|Accelerometer output (*list*)|
-|`gyro`|Gyroscope update|Gyroscope output (*list*)|
+|`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)*|
+|`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.