From b8c687f3ed0616e544a3651087919bbe5dd23f41 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 11 Aug 2026 23:17:04 +0300 Subject: [PATCH] Merge branch 'master' into stm --- .github/workflows/build.yml | 34 +- .github/workflows/docs.yml | 33 ++ .gitignore | 5 +- .markdownlint.json | 5 +- .vscode/c_cpp_properties.json | 54 +-- .vscode/extensions.json | 1 + .../{settings.json => settings.default.json} | 0 Makefile | 39 +- README.md | 130 +++--- arduino-cli.yaml | 5 - docs/assembly.md | 26 ++ docs/book/firmware.md | 6 +- docs/book/geometry.md | 18 +- docs/book/gyro.md | 54 +-- docs/build.md | 3 +- docs/firmware.md | 66 ++- docs/img/arduino-ide.png | Bin 0 -> 71323 bytes docs/img/control.svg | 3 +- docs/img/dataflow.svg | 3 +- docs/img/drone-axes-rotate.svg | 136 ++++++ docs/img/drone-axes.svg | 110 +++++ docs/img/espnow-connection.jpg | Bin 0 -> 47299 bytes docs/img/flix.svg | 38 ++ docs/img/flix1.5.jpg | Bin 0 -> 103195 bytes docs/img/imu-axes.png | Bin 0 -> 33429 bytes docs/img/imu-rot-1.png | Bin 0 -> 18429 bytes docs/img/imu-rot-2.png | Bin 0 -> 17965 bytes docs/img/imu-rot-3.png | Bin 0 -> 17622 bytes docs/img/imu-rot-4.png | Bin 0 -> 17623 bytes docs/img/imu-rot-5.png | Bin 0 -> 10354 bytes docs/img/imu-rot-6.png | Bin 0 -> 9860 bytes docs/img/imu-rot-7.png | Bin 0 -> 10720 bytes docs/img/imu-rot-8.png | Bin 0 -> 10515 bytes docs/img/mosfet-connection.png | Bin 38912 -> 47329 bytes docs/img/motor-tape.jpg | Bin 0 -> 62136 bytes docs/img/motors.svg | 89 ++++ docs/img/qgc-attitude.png | Bin 0 -> 15989 bytes docs/img/schematics1.svg | 2 +- docs/img/user/alicanerus/1.jpg | Bin 0 -> 61025 bytes docs/img/user/alicanerus/2.jpg | Bin 0 -> 52939 bytes docs/img/user/alicanerus/3.jpg | Bin 0 -> 57626 bytes docs/img/user/arkymatsekh/1.jpg | Bin 0 -> 63000 bytes docs/img/user/arkymatsekh/2.jpg | Bin 0 -> 49346 bytes docs/img/user/arkymatsekh/3.jpg | Bin 0 -> 51598 bytes docs/img/user/arkymatsekh/video.jpg | Bin 0 -> 17664 bytes docs/img/user/aw_venom/1.jpg | Bin 0 -> 63921 bytes docs/img/user/fanby0ru/1.jpg | Bin 0 -> 44992 bytes docs/img/user/fanby0ru/2.jpg | Bin 0 -> 56465 bytes docs/img/user/goldarte/1.jpg | Bin 0 -> 69288 bytes docs/img/user/goldarte/2.jpg | Bin 0 -> 35809 bytes docs/img/user/goldarte/video.jpg | Bin 0 -> 32809 bytes docs/img/user/ina_tix/1.jpg | Bin 0 -> 61991 bytes docs/img/user/ina_tix/2.jpg | Bin 0 -> 38884 bytes docs/img/user/ina_tix/3.jpg | Bin 0 -> 50673 bytes docs/img/user/kostas/1.jpg | Bin 0 -> 50129 bytes docs/img/user/kostas/2.jpg | Bin 0 -> 41607 bytes docs/img/user/malagis/1.jpg | Bin 0 -> 57520 bytes docs/img/user/malagis/2.jpg | Bin 0 -> 61353 bytes docs/img/user/malagis/3.jpg | Bin 0 -> 55528 bytes docs/img/user/nerush/1.jpg | Bin 0 -> 71090 bytes docs/img/user/nerush/2.jpg | Bin 0 -> 59324 bytes docs/img/user/oleg1405/1.jpg | Bin 0 -> 51309 bytes docs/img/user/phalko/1.jpg | Bin 0 -> 107684 bytes docs/img/user/phalko/2.jpg | Bin 0 -> 35125 bytes docs/img/user/phalko/3.jpg | Bin 0 -> 37324 bytes docs/img/user/school548/1.jpg | Bin 0 -> 110217 bytes docs/img/user/school548/2.jpg | Bin 0 -> 95032 bytes docs/img/user/school548/3.jpg | Bin 0 -> 66979 bytes docs/img/user/school548/kiraflux-video.jpg | Bin 0 -> 28325 bytes docs/img/user/school548/kiraflux1.jpg | Bin 0 -> 31755 bytes docs/img/user/school548/kiraflux2.jpg | Bin 0 -> 43029 bytes docs/img/user/school548/tolyan4krut-video.jpg | Bin 0 -> 43613 bytes docs/img/user/school548/tolyan4krut.jpg | Bin 0 -> 77815 bytes .../user/school548/vlad_tolshinov-video.jpg | Bin 0 -> 28871 bytes docs/img/user/school548/vlad_tolshinov1.jpg | Bin 0 -> 45207 bytes docs/img/user/school548/vlad_tolshinov2.jpg | Bin 0 -> 32610 bytes docs/img/web-flasher.png | Bin 0 -> 66740 bytes docs/log.md | 6 +- docs/troubleshooting.md | 32 +- docs/usage.md | 420 ++++++++++++------ docs/user.md | 160 ++++++- docs/version0.md | 2 +- flix/cli.ino | 93 ++-- flix/config.h | 27 ++ flix/control.ino | 75 ++-- flix/estimate.ino | 28 +- flix/flix.ino | 33 +- flix/imu.ino | 88 ++-- flix/log.ino | 14 +- flix/lpf.h | 15 +- flix/mavlink.ino | 133 +++--- flix/motors.ino | 75 ++-- flix/parameters.ino | 188 +++++--- flix/pid.h | 2 +- flix/power.ino | 29 ++ flix/rc.ino | 82 ++-- flix/safety.ino | 31 +- flix/time.ino | 2 + flix/util.h | 55 ++- flix/vector.h | 20 +- flix/wifi.ino | 142 +++++- gazebo/Arduino.h | 7 +- gazebo/ESP32_NOW_Serial.h | 12 + gazebo/README.md | 98 +++- gazebo/SBUS.h | 11 +- gazebo/flix.h | 44 +- gazebo/simulator.cpp | 4 + gazebo/soc/soc.h | 1 - gazebo/wifi.h | 22 +- tools/espnow-proxy/README.md | 3 + tools/espnow-proxy/espnow-proxy.ino | 88 ++++ tools/example.py | 7 +- tools/grab_log.py | 2 +- tools/log.py | 43 +- tools/pyflix/README.md | 74 +-- tools/pyflix/flix.py | 44 +- tools/pyproject.toml | 2 +- 117 files changed, 2264 insertions(+), 810 deletions(-) rename .vscode/{settings.json => settings.default.json} (100%) delete mode 100644 arduino-cli.yaml mode change 120000 => 100644 docs/build.md create mode 100644 docs/img/arduino-ide.png create mode 100644 docs/img/drone-axes-rotate.svg create mode 100644 docs/img/drone-axes.svg create mode 100644 docs/img/espnow-connection.jpg create mode 100644 docs/img/flix.svg create mode 100644 docs/img/flix1.5.jpg create mode 100644 docs/img/imu-axes.png create mode 100644 docs/img/imu-rot-1.png create mode 100644 docs/img/imu-rot-2.png create mode 100644 docs/img/imu-rot-3.png create mode 100644 docs/img/imu-rot-4.png create mode 100644 docs/img/imu-rot-5.png create mode 100644 docs/img/imu-rot-6.png create mode 100644 docs/img/imu-rot-7.png create mode 100644 docs/img/imu-rot-8.png create mode 100644 docs/img/motor-tape.jpg create mode 100644 docs/img/motors.svg create mode 100644 docs/img/qgc-attitude.png create mode 100644 docs/img/user/alicanerus/1.jpg create mode 100644 docs/img/user/alicanerus/2.jpg create mode 100644 docs/img/user/alicanerus/3.jpg create mode 100644 docs/img/user/arkymatsekh/1.jpg create mode 100644 docs/img/user/arkymatsekh/2.jpg create mode 100644 docs/img/user/arkymatsekh/3.jpg create mode 100644 docs/img/user/arkymatsekh/video.jpg create mode 100644 docs/img/user/aw_venom/1.jpg create mode 100644 docs/img/user/fanby0ru/1.jpg create mode 100644 docs/img/user/fanby0ru/2.jpg create mode 100644 docs/img/user/goldarte/1.jpg create mode 100644 docs/img/user/goldarte/2.jpg create mode 100644 docs/img/user/goldarte/video.jpg create mode 100644 docs/img/user/ina_tix/1.jpg create mode 100644 docs/img/user/ina_tix/2.jpg create mode 100644 docs/img/user/ina_tix/3.jpg create mode 100644 docs/img/user/kostas/1.jpg create mode 100644 docs/img/user/kostas/2.jpg create mode 100644 docs/img/user/malagis/1.jpg create mode 100644 docs/img/user/malagis/2.jpg create mode 100644 docs/img/user/malagis/3.jpg create mode 100644 docs/img/user/nerush/1.jpg create mode 100644 docs/img/user/nerush/2.jpg create mode 100644 docs/img/user/oleg1405/1.jpg create mode 100644 docs/img/user/phalko/1.jpg create mode 100644 docs/img/user/phalko/2.jpg create mode 100644 docs/img/user/phalko/3.jpg create mode 100644 docs/img/user/school548/1.jpg create mode 100644 docs/img/user/school548/2.jpg create mode 100644 docs/img/user/school548/3.jpg create mode 100644 docs/img/user/school548/kiraflux-video.jpg create mode 100644 docs/img/user/school548/kiraflux1.jpg create mode 100644 docs/img/user/school548/kiraflux2.jpg create mode 100644 docs/img/user/school548/tolyan4krut-video.jpg create mode 100644 docs/img/user/school548/tolyan4krut.jpg create mode 100644 docs/img/user/school548/vlad_tolshinov-video.jpg create mode 100644 docs/img/user/school548/vlad_tolshinov1.jpg create mode 100644 docs/img/user/school548/vlad_tolshinov2.jpg create mode 100644 docs/img/web-flasher.png create mode 100644 flix/config.h create mode 100644 flix/power.ino create mode 100644 gazebo/ESP32_NOW_Serial.h create mode 100644 tools/espnow-proxy/README.md create mode 100644 tools/espnow-proxy/espnow-proxy.ino diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 8d67536..91b2aa7 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -10,32 +10,36 @@ on: jobs: build_linux: runs-on: ubuntu-latest + env: + ARDUINO_SKETCH_ALWAYS_EXPORT_BINARIES: 1 steps: - uses: actions/checkout@v4 - name: Install Arduino CLI run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh - - name: Build firmware - env: - ARDUINO_SKETCH_ALWAYS_EXPORT_BINARIES: 1 + - name: Build firmware for ESP32 run: make + - name: Build firmware for ESP32-C3 + run: make BOARD=esp32:esp32:esp32c3 + - name: Build firmware for ESP32-S3 + run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc + - name: Build firmware for ESP32-S3 with QSPI PSRAM + run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=enabled EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.qspi + - name: Build firmware for ESP32-S3 with OPI PSRAM + run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=opi EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.opi + - name: Build firmware for Flix2 + run: make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc,PSRAM=opi EXTRA='--build-property "compiler.cpp.extra_flags=-DFLIX2" --output-dir=flix/build/esp32.esp32.flix2' + - name: Build firmware for STM32F4 + run: | + arduino-cli core install STMicroelectronics:stm32 --additional-urls https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json + arduino-cli lib install "Preferences" + make BOARD=STMicroelectronics:stm32:GenF4 - name: Upload binaries uses: actions/upload-artifact@v4 with: name: firmware-binary path: flix/build - - name: Build firmware for ESP32-S3 - run: make BOARD=esp32:esp32:esp32s3 - - name: Build firmware with WiFi disabled - run: sed -i 's/^#define WIFI_ENABLED 1$/#define WIFI_ENABLED 0/' flix/flix.ino && make - name: Check c_cpp_properties.json run: tools/check_c_cpp_properties.py - - name: Build for Black Pill F411CE (STM32) - run: | - arduino-cli config set board_manager.additional_urls https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json - arduino-cli core install STMicroelectronics:stm32 - arduino-cli board listall STMicroelectronics:stm32 - arduino-cli lib install "Preferences" - make BOARD=STMicroelectronics:stm32:GenF4:pnum=BLACKPILL_F411CE build_macos: runs-on: macos-latest @@ -71,7 +75,7 @@ jobs: apt-get update DEBIAN_FRONTEND=noninteractive apt-get install -y curl wget build-essential cmake g++ pkg-config gnupg2 lsb-release sudo - name: Install Arduino CLI - uses: arduino/setup-arduino-cli@v1.1.1 + run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh - uses: actions/checkout@v4 - name: Install Gazebo run: | diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml index 038e4ef..5d7fa59 100644 --- a/.github/workflows/docs.yml +++ b/.github/workflows/docs.yml @@ -8,6 +8,7 @@ on: permissions: contents: read + actions: read pages: write id-token: write @@ -30,6 +31,38 @@ jobs: run: cargo install mdbook --vers 0.4.43 --locked - name: Build book run: cd docs && mdbook build + - name: Wait for Build to complete + uses: lewagon/wait-on-check-action@v1.9.1 + with: + ref: ${{ github.sha }} + check-name: build_linux + repo-token: ${{ secrets.GITHUB_TOKEN }} + wait-interval: 30 + - name: Find firmware binaries + id: build_run + run: | + RUN_ID=$(gh api "repos/${{ github.repository }}/actions/workflows/build.yml/runs?head_sha=${{ github.sha }}&per_page=1" --jq '.workflow_runs[0].id') + echo "id=$RUN_ID" >> $GITHUB_OUTPUT + env: + GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} + - name: Download firmware binaries + uses: actions/download-artifact@v4 + with: + github-token: ${{ secrets.GITHUB_TOKEN }} + repository: ${{ github.repository }} + run-id: ${{ steps.build_run.outputs.id }} + name: firmware-binary + path: docs/build + - name: Create shortcuts for firmware binaries + working-directory: docs/build + run: | + for FQBN in esp32.esp32.*; do + zip -r $FQBN.zip $FQBN + BOARD="${FQBN#esp32.esp32.}" + ln -s "$FQBN/flix.ino.merged.bin" "flix.$BOARD.merged.bin" + ln -s "$FQBN/flix.ino.bin" "flix.$BOARD.bin" + ln -s "$FQBN/flix.ino.bootloader.bin" "flix.$BOARD.bootloader.bin" + done - name: Upload artifact uses: actions/upload-pages-artifact@v3 with: diff --git a/.gitignore b/.gitignore index 8c71511..64cd6f3 100644 --- a/.gitignore +++ b/.gitignore @@ -4,9 +4,10 @@ build/ tools/log/ tools/dist/ *.egg-info/ -.dependencies +.core +.libs .vscode/* -!.vscode/settings.json +!.vscode/settings.default.json !.vscode/c_cpp_properties.json !.vscode/tasks.json !.vscode/launch.json diff --git a/.markdownlint.json b/.markdownlint.json index 52b410b..ae571f8 100644 --- a/.markdownlint.json +++ b/.markdownlint.json @@ -7,6 +7,8 @@ "MD024": false, "MD033": false, "MD034": false, + "MD040": false, + "MD059": false, "MD044": { "html_elements": false, "code_blocks": false, @@ -64,5 +66,6 @@ "PX4" ] }, - "MD045": false + "MD045": false, + "MD060": false } diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 2c3027f..3d7a7bb 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -6,19 +6,18 @@ "${workspaceFolder}/flix", "${workspaceFolder}/gazebo", "${workspaceFolder}/tools/**", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32", - "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**", - "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32", + "~/.arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**", "~/Arduino/libraries/**", "/usr/include/gazebo-11/", "/usr/include/ignition/math6/" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h", - "~/.arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h", + "~/.arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h", "${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/control.ino", "${workspaceFolder}/flix/estimate.ino", @@ -31,9 +30,10 @@ "${workspaceFolder}/flix/rc.ino", "${workspaceFolder}/flix/time.ino", "${workspaceFolder}/flix/wifi.ino", - "${workspaceFolder}/flix/parameters.ino" + "${workspaceFolder}/flix/parameters.ino", + "${workspaceFolder}/flix/safety.ino" ], - "compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++", + "compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++", "cStandard": "c11", "cppStandard": "c++17", "defines": [ @@ -53,19 +53,18 @@ "name": "Mac", "includePath": [ "${workspaceFolder}/flix", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32", - "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/include/**", - "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32", + "~/Library/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**", "~/Documents/Arduino/libraries/**", "/opt/homebrew/include/gazebo-11/", "/opt/homebrew/include/ignition/math6/" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h", - "~/Library/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h", + "~/Library/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h", "${workspaceFolder}/flix/flix.ino", "${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/control.ino", @@ -78,9 +77,10 @@ "${workspaceFolder}/flix/rc.ino", "${workspaceFolder}/flix/time.ino", "${workspaceFolder}/flix/wifi.ino", - "${workspaceFolder}/flix/parameters.ino" + "${workspaceFolder}/flix/parameters.ino", + "${workspaceFolder}/flix/safety.ino" ], - "compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++", + "compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++", "cStandard": "c11", "cppStandard": "c++17", "defines": [ @@ -103,17 +103,16 @@ "${workspaceFolder}/flix", "${workspaceFolder}/gazebo", "${workspaceFolder}/tools/**", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/libraries/**", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32", - "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/**", - "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.4-2f7dcd86-v1/esp32/dio_qspi/include", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/libraries/**", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32", + "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-libs/3.3.10/include/**", "~/Documents/Arduino/libraries/**" ], "forcedInclude": [ "${workspaceFolder}/.vscode/intellisense.h", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/cores/esp32/Arduino.h", - "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.2.0/variants/d1_mini32/pins_arduino.h", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/cores/esp32/Arduino.h", + "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.3.10/variants/d1_mini32/pins_arduino.h", "${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/control.ino", "${workspaceFolder}/flix/estimate.ino", @@ -126,9 +125,10 @@ "${workspaceFolder}/flix/rc.ino", "${workspaceFolder}/flix/time.ino", "${workspaceFolder}/flix/wifi.ino", - "${workspaceFolder}/flix/parameters.ino" + "${workspaceFolder}/flix/parameters.ino", + "${workspaceFolder}/flix/safety.ino" ], - "compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++.exe", + "compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2601/bin/xtensa-esp32-elf-g++.exe", "cStandard": "c11", "cppStandard": "c++17", "defines": [ diff --git a/.vscode/extensions.json b/.vscode/extensions.json index c325fd8..d7d845c 100644 --- a/.vscode/extensions.json +++ b/.vscode/extensions.json @@ -1,6 +1,7 @@ { // See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations. "recommendations": [ + "dangmai.workspace-default-settings", "ms-vscode.cpptools", "ms-vscode.cmake-tools", "ms-python.python" diff --git a/.vscode/settings.json b/.vscode/settings.default.json similarity index 100% rename from .vscode/settings.json rename to .vscode/settings.default.json diff --git a/Makefile b/Makefile index da7d3a4..448ba1f 100644 --- a/Makefile +++ b/Makefile @@ -1,29 +1,40 @@ -BOARD = esp32:esp32:d1_mini32 -PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*) -PORT := $(strip $(PORT)) +BOARD = esp32:esp32:esp32 +PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*)) -build: .dependencies - arduino-cli compile --fqbn $(BOARD) flix +export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h + +build: .core .libs + arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix $(EXTRA) upload: build arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix +erase: + arduino-cli burn-bootloader --fqbn $(BOARD) -p "$(PORT)" -P esptool + monitor: arduino-cli monitor -p "$(PORT)" -c baudrate=115200 -dependencies .dependencies: - arduino-cli core update-index --config-file arduino-cli.yaml - arduino-cli core install esp32:esp32@3.2.0 --config-file arduino-cli.yaml +core .core: + arduino-cli core update-index --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json + arduino-cli core install esp32:esp32@3.3.10 --additional-urls https://espressif.github.io/arduino-esp32/package_esp32_index.json + touch .core + +libs .libs: arduino-cli lib update-index arduino-cli lib install "FlixPeriph" - arduino-cli lib install "MAVLink"@2.0.16 - touch .dependencies + arduino-cli lib install "MAVLink"@2.0.25 + touch .libs + +upload_proxy: .core .libs + arduino-cli compile --fqbn $(BOARD) tools/espnow-proxy + arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" tools/espnow-proxy gazebo/build cmake: gazebo/CMakeLists.txt mkdir -p gazebo/build cd gazebo/build && cmake .. -build_simulator: .dependencies gazebo/build +build_simulator: .libs gazebo/build make -C gazebo/build simulator: build_simulator @@ -32,12 +43,12 @@ simulator: build_simulator gazebo --verbose ${CURDIR}/gazebo/flix.world log: - PORT=$(PORT) tools/grab_log.py + tools/log.py plot: plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1) clean: - rm -rf gazebo/build flix/build flix/cache .dependencies + rm -rf gazebo/build flix/build flix/cache .core .libs -.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean +.PHONY: build upload monitor core libs cmake build_simulator simulator log clean diff --git a/README.md b/README.md index a1d79fe..f1bc75e 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,9 @@ -# Flix + -**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch. +

+ Flix logo
+ 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: Flix simulator -## 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 Flix version 1 schematics -*(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 -GY-91 axes - -In case of using other IMU orientation, modify the `rotateIMU` function in the `imu.ino` file. - -See [FlixPeriph documentation](https://github.com/okalachev/flixperiph?tab=readme-ov-file#imu-axes-orientation) to learn axis orientation of other IMU boards. - -## Materials - -Subscribe to the Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. - -Join the official Telegram chat: https://t.me/opensourcequadcopterchat. - -Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/. - -See the information on the obsolete version 0 in the [corresponding article](docs/version0.md). +* Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. +* Official Telegram chat: https://t.me/opensourcequadcopterchat (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 Firmware dataflow diagram -The main loop is running at 1000 Hz. All the dataflow goes through global variables (for simplicity): +The main loop is running at 1000 Hz. The dataflow goes through global variables, including: * `t` *(float)* — current step time, *s*. * `dt` *(float)* — time delta between the current and previous steps, *s*. @@ -14,12 +14,12 @@ The main loop is running at 1000 Hz. All the dataflow goes through global variab * `acc` *(Vector)* — acceleration data from the accelerometer, *m/s2*. * `rates` *(Vector)* — filtered angular rates, *rad/s*. * `attitude` *(Quaternion)* — estimated attitude (orientation) of drone. -* `controlRoll`, `controlPitch`, ... *(float[])* — pilot control inputs, range [-1, 1]. -* `motors` *(float[])* — motor outputs, range [0, 1]. +* `controlRoll`, `controlPitch`, `controlYaw`, `controlThrottle`, `controlMode` *(float)* — pilot control inputs, range [-1, 1]. +* `motors` *(float[4])* — motor outputs, range [0, 1]. ## Source files -Firmware source files are located in `flix` directory. The core files are: +Firmware source files are located in `flix` directory. * [`flix.ino`](../flix/flix.ino) — Arduino sketch main file, entry point.Includes some global variable definitions and the main loop. * [`imu.ino`](../flix/imu.ino) — reading data from the IMU sensor (gyroscope and accelerometer), IMU calibration. @@ -28,6 +28,7 @@ Firmware source files are located in `flix` directory. The core files are: * [`control.ino`](../flix/control.ino) — control subsystem, three-dimensional two-level cascade PID controller. * [`motors.ino`](../flix/motors.ino) — PWM motor output control. * [`mavlink.ino`](../flix/mavlink.ino) — interaction with QGroundControl or [pyflix](../tools/pyflix) via MAVLink protocol. +* [`cli.ino`](../flix/cli.ino) — serial and MAVLink console. Utility files: @@ -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`. Control subsystem diagram Armed state is stored in `armed` variable, and current mode is stored in `mode` variable. -## Building +### Console + +To write into the console, `print()` function is used. This function sends data both to the Serial console and to the MAVLink console (which can be accessed wirelessly in QGroundControl). The function supports formatting: + +```cpp +print("Test value: %.2f\n", testValue); +``` + +In order to add a console command, modify the `doCommand()` function in `cli.ino` file. + +> [!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 new file mode 100644 index 0000000000000000000000000000000000000000..24eb6e302578c86dad48935875b4e9ce45aabfc9 GIT binary patch literal 71323 zcmX`Sbx<6>^FEGKtQ2=Bw79#wyGwC*DR76o7I$~I0>vGQ7dsq^98Njh4m<4o`ut{o z@BEQ{ve}v4$voLfGMg9;HF+#_Qgk>tI4ng487(+CLYVVN#?%6l+yMApQ9q4m%cURZc+&(-KJPpds&9AKc z2@D91O-yzMc;^?FlvGqEXJnc?xWJiM^v!^@!=ozthr(jw10te}nwl8^-em3o6qoP* zrPc0f87VcjNsYac(b4+_F=fI$OL({Spd_=zR z*FSu(Jzsp%FwjyOXl>jc`*qC1;BL_-NB&#W&j2koZ8%b@ujtqW@CYc(V)UGH@BA9i zDw^13FQcZWBc{q3ejE|4`2U&0DauId_^hAhzq+k=la8x5GB^ciCntAr*NSy{NCkYA z;)f57RkF9K2uZx($e2w1*Q{1IwwBrF<*0k-HqgHR6@*a*P&M;<2tZUli-;I~dwl-O z`Mi&fj~*#iqQUS#affk&gC5DG@JA3mvi!>t1Ab~EPnpJFl+XVkd?1R11=GEroHmqb zREGgqd%tWjEDe{x5ekkQB}$1B@3>7(U(1zgU{7zvjgq@@px;Tjvwwmzv-N-?_^Be9 z~Xs6DT6H-L5U=|m4JL`Rch 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interpretControls
controlThottle, controlYaw
controlRoll, controlPitch
controlMode
controlAttitude
controlRates
controlTorque
attitudeTarget, ratesExtra
ratesTarget
torqueTarget
thrustTarget
motors[]
in ACRO mode
\ No newline at end of file +
interpretControls
interpretControls
controlThottle, controlYaw
controlRoll, controlPitch
controlMode
controlThottle, controlYaw...
controlAttitude
controlAttitude
controlRates
controlRates
controlTorque
controlTorque
attitudeTarget, ratesExtra
attitudeTarget, ratesExtra
ratesTarget
ratesTarget
torqueTarget
torqueTarget
thrustTarget
thrustTarget
motors[]
motors[]
in ACRO mode
in ACRO mode
\ No newline at end of file diff --git a/docs/img/dataflow.svg b/docs/img/dataflow.svg index a2c545a..7c7c98d 100644 --- a/docs/img/dataflow.svg +++ b/docs/img/dataflow.svg @@ -1,4 +1,3 @@ - -
gyro, acc
estimate.ino
control.ino
rc.ino
motors.ino
rates, attitude
controlRoll, controlPitch, ...
motors[]
feedback
\ No newline at end of file +imu.ino
gyro, acc
gyro, acc
estimate.ino
estimate.ino
control.ino
control.ino
rc.ino
rc.ino
motors.ino
motors.ino
rates, attitude
rates, attitude
controlRoll, controlPitch,
controlYaw, controlThrottle,
controlMode
controlRoll, controlPitch,...
motors[]
motors[]
feedback
feedback
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