mirror of
https://github.com/okalachev/flix.git
synced 2026-01-10 04:57:17 +00:00
Refactor arming logic
Arm and disarm with gestures only: left stick right/down for arming, left/down for disarming. Remove arming switch as it complicates arming gestures logic. Remove MAV_CTRL_SCALE parameter as it complicates arming gestures logic, advise to decrease TILT_MAX when controlling with a smartphone. Put some minimal thrust to motors to indicate armed state. Rename build article to usage article, add flight instructions.
This commit is contained in:
Oleg Kalachev
@@ -55,7 +55,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
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## Articles
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* [Assembly instructions](docs/assembly.md).
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* [Building and running the code](docs/build.md).
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* [Usage: build, setup and flight](docs/usage.md).
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* [Troubleshooting](docs/troubleshooting.md).
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* [Firmware architecture overview](docs/firmware.md).
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* [Python library tutorial](tools/pyflix/README.md).
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205
docs/build.md
205
docs/build.md
@@ -1,205 +0,0 @@
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# Building and running
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To build the firmware or the simulator, you need to clone the repository using git:
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```bash
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git clone https://github.com/okalachev/flix.git
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cd flix
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```
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## Simulation
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### Ubuntu
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The latest version of Ubuntu supported by Gazebo 11 simulator is 22.04. If you have a newer version, consider using a virtual machine.
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1. Install Arduino CLI:
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```bash
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curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
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```
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2. Install Gazebo 11:
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```bash
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curl -sSL http://get.gazebosim.org | sh
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```
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Set up your Gazebo environment variables:
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```bash
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echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
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source ~/.bashrc
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```
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3. Install SDL2 and other dependencies:
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```bash
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sudo apt-get update && sudo apt-get install build-essential libsdl2-dev
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```
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4. Add your user to the `input` group to enable joystick support (you need to re-login after this command):
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```bash
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sudo usermod -a -G input $USER
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```
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5. Run the simulation:
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```bash
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make simulator
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```
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### macOS
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1. Install Homebrew package manager, if you don't have it installed:
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```bash
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/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
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```
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2. Install Arduino CLI, Gazebo 11 and SDL2:
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```bash
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brew tap osrf/simulation
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brew install arduino-cli
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brew install gazebo11
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brew install sdl2
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```
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Set up your Gazebo environment variables:
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```bash
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echo "source /opt/homebrew/share/gazebo/setup.sh" >> ~/.zshrc
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source ~/.zshrc
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```
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3. Run the simulation:
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```bash
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make simulator
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```
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### Setup and flight
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#### Control with smartphone
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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).
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2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
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3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
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4. Run the simulation.
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5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically.
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6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
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7. Use the virtual joystick to fly the drone!
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#### Control with USB remote control
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1. Connect your USB remote control to the machine running the simulator.
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2. Run the simulation.
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3. Calibrate the RC using `cr` command in the command line interface.
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4. Run the simulation again.
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5. Use the USB remote control to fly the drone!
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## Firmware
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### Arduino IDE (Windows, Linux, macOS)
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1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
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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).
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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.
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4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
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* `FlixPeriph`, the latest version.
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* `MAVLink`, version 2.0.16.
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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).
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6. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.
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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.
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8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
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### Command line (Windows, Linux, macOS)
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1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
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On Linux, use:
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```bash
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curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
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```
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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).
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3. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
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```bash
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make
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```
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You can flash the firmware to the board using command:
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```bash
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make upload
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```
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You can also compile the firmware, upload it and start serial port monitoring using command:
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```bash
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make upload monitor
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```
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See other available Make commands in the [Makefile](../Makefile).
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> [!TIP]
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> 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.
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### Setup and flight
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Before flight you need to calibrate the accelerometer:
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1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
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2. Type `ca` command there and follow the instructions.
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#### Control with smartphone
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1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
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2. Power the drone using the battery.
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3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
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4. Open QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
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5. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
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6. Use the virtual joystick to fly the drone!
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#### Control with remote control
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Before flight using remote control, you need to calibrate it:
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1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
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2. Type `cr` command there and follow the instructions.
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3. Use the remote control to fly the drone!
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#### Control with USB remote control (Wi-Fi)
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If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
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1. Install [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) app on your computer.
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2. Connect your USB remote control to the computer.
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3. Power up the drone.
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4. Connect your computer to the appeared `flix` Wi-Fi network (password: `flixwifi`).
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5. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
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6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
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7. Use the USB remote control to fly the drone!
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#### Adjusting parameters
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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*.
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<img src="img/parameters.png" width="400">
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#### CLI access
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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*.
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<img src="img/cli.png" width="400">
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> [!NOTE]
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> If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article.
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### Firmware code structure
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See [firmware overview](firmware.md) for more details.
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1
docs/build.md
Symbolic link
1
docs/build.md
Symbolic link
@@ -0,0 +1 @@
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usage.md
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@@ -53,4 +53,4 @@ Armed state is stored in `armed` variable, and current mode is stored in `mode`
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## Building
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See build instructions in [build.md](build.md).
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See build instructions in [usage.md](usage.md).
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22
docs/img/arming.svg
Normal file
22
docs/img/arming.svg
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Normal file
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|
||||
<path class="a" d="M340,159.31c-4.74-86-35.9-128.7-35.9-128.7C288.3,9.53,269.17,2.91,251.87.39s-22.31,7.87-22.31,7.87C201.7,4,170.11,4.19,170.11,4.19S138.51,4,110.65,8.26c0,0-5-10.38-22.3-7.87S51.91,9.53,36.14,30.61c0,0-31.16,42.67-35.9,128.7-2.82,51.08,19.68,55.36,38.43,50.4a60.08,60.08,0,0,0,30.55-19.66c7.51-9,19.64-25.32,34-28,17.28-3.26,33.14-4.77,45.09-4.78l21.82,0,21.81,0c12,0,27.82,1.52,45.09,4.78,14.34,2.71,26.47,19,34,28a60.06,60.06,0,0,0,30.56,19.66C320.29,214.67,342.79,210.39,340,159.31Z"/>
|
||||
<circle class="b" cx="88.54" cy="85.75" r="45.22"/>
|
||||
<circle class="b" cx="251.67" cy="85.75" r="45.22"/>
|
||||
<circle class="c" cx="251.67" cy="85.75" r="13.8"/>
|
||||
<circle class="c" cx="73.28" cy="112.12" r="13.8"/>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 971 B |
@@ -4,7 +4,7 @@
|
||||
|
||||
Do the following:
|
||||
|
||||
* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](build.md#firmware).
|
||||
* **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 the chosen board**. The correct board to choose in Arduino IDE for ESP32 Mini is *WEMOS D1 MINI ESP32*.
|
||||
|
||||
|
||||
243
docs/usage.md
Normal file
243
docs/usage.md
Normal file
@@ -0,0 +1,243 @@
|
||||
# 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.
|
||||
|
||||
For the start, clone the repository using git:
|
||||
|
||||
```bash
|
||||
git clone https://github.com/okalachev/flix.git
|
||||
cd flix
|
||||
```
|
||||
|
||||
## Simulation
|
||||
|
||||
### Ubuntu
|
||||
|
||||
The latest version of Ubuntu supported by Gazebo 11 simulator is 22.04. 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
|
||||
curl -sSL http://get.gazebosim.org | sh
|
||||
```
|
||||
|
||||
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.
|
||||
4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
|
||||
* `FlixPeriph`, the latest version.
|
||||
* `MAVLink`, version 2.0.16.
|
||||
5. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).
|
||||
6. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.
|
||||
7. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini) and the port.
|
||||
8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
|
||||
|
||||
### Command line (Windows, Linux, macOS)
|
||||
|
||||
1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
|
||||
|
||||
On Linux, use:
|
||||
|
||||
```bash
|
||||
curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
|
||||
```
|
||||
|
||||
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. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
|
||||
|
||||
```bash
|
||||
make
|
||||
```
|
||||
|
||||
You can flash the firmware to the board using command:
|
||||
|
||||
```bash
|
||||
make upload
|
||||
```
|
||||
|
||||
You can also compile the firmware, upload it and start serial port monitoring using command:
|
||||
|
||||
```bash
|
||||
make upload monitor
|
||||
```
|
||||
|
||||
See other available Make commands in the [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.
|
||||
|
||||
### Setup
|
||||
|
||||
Before flight you need to calibrate the accelerometer:
|
||||
|
||||
1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
|
||||
2. Type `ca` command there and follow the instructions.
|
||||
|
||||
#### Control with smartphone
|
||||
|
||||
1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
|
||||
2. Power the drone using the battery.
|
||||
3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
|
||||
4. Open QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
|
||||
5. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
|
||||
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.
|
||||
|
||||
#### Control with remote control
|
||||
|
||||
Before flight using remote control, you need to calibrate it:
|
||||
|
||||
1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
|
||||
2. Type `cr` command there and follow the instructions.
|
||||
3. Use the remote control to fly the drone!
|
||||
|
||||
#### Control with USB remote control (Wi-Fi)
|
||||
|
||||
If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
|
||||
|
||||
1. Install [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) app on your computer.
|
||||
2. Connect your USB remote control to the computer.
|
||||
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.
|
||||
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:
|
||||
|
||||
<img src="img/controls.svg" width="300">
|
||||
|
||||
### Arming and disarming
|
||||
|
||||
To start the motors, you should **arm** the drone. To do that, move the left stick to the bottom right corner:
|
||||
|
||||
<img src="img/arming.svg" width="150">
|
||||
|
||||
After that, the motors will start spinning at low speed, indicating that the drone is armed and ready to fly.
|
||||
|
||||
When finished flying, **disarm** the drone, moving the left stick to the bottom left corner:
|
||||
|
||||
<img src="img/disarming.svg" width="150">
|
||||
|
||||
### Flight modes
|
||||
|
||||
Flight mode is changed using mode switch on the remote control or using the command line.
|
||||
|
||||
### 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.
|
||||
|
||||
> [!IMPORTANT]
|
||||
> The drone doesn't stabilize its position, so slight drift is possible. The pilot should compensate it manually.
|
||||
|
||||
### ACRO
|
||||
|
||||
In this mode, the pilot controls the angular rates. This control method is difficult to fly and mostly used in FPV racing.
|
||||
|
||||
### MANUAL
|
||||
|
||||
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**.
|
||||
|
||||
## Adjusting parameters
|
||||
|
||||
You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl app. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.
|
||||
|
||||
<img src="img/parameters.png" width="400">
|
||||
|
||||
## CLI access
|
||||
|
||||
In addition to accessing the drone's command line interface (CLI) using the serial port, you can also access it with QGroundControl using Wi-Fi connection. To do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
|
||||
|
||||
<img src="img/cli.png" width="400">
|
||||
@@ -14,6 +14,7 @@ extern double t;
|
||||
extern uint16_t channels[16];
|
||||
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
|
||||
extern int mode;
|
||||
extern bool armed;
|
||||
|
||||
const char* motd =
|
||||
"\nWelcome to\n"
|
||||
@@ -33,6 +34,8 @@ const char* motd =
|
||||
"ps - show pitch/roll/yaw\n"
|
||||
"psq - show attitude quaternion\n"
|
||||
"imu - show IMU data\n"
|
||||
"arm - arm the drone\n"
|
||||
"disarm - disarm the drone\n"
|
||||
"stab / acro - set mode\n"
|
||||
"rc - show RC data\n"
|
||||
"mot - show motor output\n"
|
||||
@@ -109,6 +112,10 @@ void doCommand(String str, bool echo = false) {
|
||||
printIMUInfo();
|
||||
printIMUCalibration();
|
||||
print("landed: %d\n", landed);
|
||||
} else if (command == "arm") {
|
||||
armed = true;
|
||||
} else if (command == "disarm") {
|
||||
armed = false;
|
||||
} else if (command == "stab") {
|
||||
mode = STAB;
|
||||
} else if (command == "acro") {
|
||||
@@ -121,6 +128,7 @@ 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("mode: %s\n", getModeName());
|
||||
print("armed: %d\n", armed);
|
||||
} 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]);
|
||||
|
||||
@@ -9,6 +9,7 @@
|
||||
#include "lpf.h"
|
||||
#include "util.h"
|
||||
|
||||
#define ARMED_THRUST 0.1 // thrust to indicate armed state
|
||||
#define PITCHRATE_P 0.05
|
||||
#define PITCHRATE_I 0.2
|
||||
#define PITCHRATE_D 0.001
|
||||
@@ -54,7 +55,7 @@ Vector torqueTarget;
|
||||
float thrustTarget;
|
||||
|
||||
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
|
||||
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
|
||||
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
|
||||
|
||||
void control() {
|
||||
interpretControls();
|
||||
@@ -65,14 +66,14 @@ void control() {
|
||||
}
|
||||
|
||||
void interpretControls() {
|
||||
armed = controlThrottle >= 0.05;
|
||||
if (controlArmed < 0.5) armed = false;
|
||||
|
||||
// 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 (controlThrottle < 0.05 && controlYaw > 0.95) armed = true; // arm gesture
|
||||
if (controlThrottle < 0.05 && controlYaw < -0.95) armed = false; // disarm gesture
|
||||
|
||||
thrustTarget = controlThrottle;
|
||||
|
||||
if (mode == STAB) {
|
||||
@@ -137,8 +138,17 @@ void controlRates() {
|
||||
void controlTorque() {
|
||||
if (!torqueTarget.valid()) return; // skip torque control
|
||||
|
||||
if (!armed || thrustTarget < 0.05) {
|
||||
memset(motors, 0, sizeof(motors)); // stop motors if no thrust
|
||||
if (!armed) {
|
||||
memset(motors, 0, sizeof(motors)); // stop motors if disarmed
|
||||
return;
|
||||
}
|
||||
|
||||
if (thrustTarget < 0.05) {
|
||||
// minimal thrust to indicate armed state
|
||||
motors[0] = ARMED_THRUST;
|
||||
motors[1] = ARMED_THRUST;
|
||||
motors[2] = ARMED_THRUST;
|
||||
motors[3] = ARMED_THRUST;
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
@@ -10,19 +10,9 @@ extern double controlTime;
|
||||
extern float controlRoll, controlPitch, controlThrottle, controlYaw;
|
||||
|
||||
void failsafe() {
|
||||
armingFailsafe();
|
||||
rcLossFailsafe();
|
||||
}
|
||||
|
||||
// Prevent arming without zero throttle input
|
||||
void armingFailsafe() {
|
||||
static double zeroThrottleTime;
|
||||
static double armingTime;
|
||||
if (!armed) armingTime = t; // stores the last time when the drone was disarmed, therefore contains arming time
|
||||
if (controlTime > 0 && controlThrottle < 0.05) zeroThrottleTime = controlTime;
|
||||
if (armingTime - zeroThrottleTime > 0.1) armed = false; // prevent arming if there was no zero throttle for 0.1 sec
|
||||
}
|
||||
|
||||
// RC loss failsafe
|
||||
void rcLossFailsafe() {
|
||||
if (t - controlTime > RC_LOSS_TIMEOUT) {
|
||||
@@ -37,5 +27,8 @@ void descend() {
|
||||
controlPitch = 0;
|
||||
controlYaw = 0;
|
||||
controlThrottle -= dt / DESCEND_TIME;
|
||||
if (controlThrottle < 0) controlThrottle = 0;
|
||||
if (controlThrottle < 0) {
|
||||
armed = false;
|
||||
controlThrottle = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -13,7 +13,7 @@
|
||||
double 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 controlArmed = NAN, controlMode = NAN;
|
||||
float controlMode = NAN;
|
||||
Vector gyro; // gyroscope data
|
||||
Vector acc; // accelerometer data, m/s/s
|
||||
Vector rates; // filtered angular rates, rad/s
|
||||
|
||||
@@ -12,11 +12,10 @@
|
||||
#define PERIOD_FAST 0.1
|
||||
#define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
|
||||
|
||||
float mavlinkControlScale = 0.7;
|
||||
String mavlinkPrintBuffer;
|
||||
|
||||
extern double controlTime;
|
||||
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
|
||||
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
|
||||
|
||||
void processMavlink() {
|
||||
sendMavlink();
|
||||
@@ -99,11 +98,10 @@ void handleMavlink(const void *_msg) {
|
||||
if (m.target && m.target != SYSTEM_ID) return; // 0 is broadcast
|
||||
|
||||
controlThrottle = m.z / 1000.0f;
|
||||
controlPitch = m.x / 1000.0f * mavlinkControlScale;
|
||||
controlRoll = m.y / 1000.0f * mavlinkControlScale;
|
||||
controlYaw = m.r / 1000.0f * mavlinkControlScale;
|
||||
controlPitch = m.x / 1000.0f;
|
||||
controlRoll = m.y / 1000.0f;
|
||||
controlYaw = m.r / 1000.0f;
|
||||
controlMode = NAN;
|
||||
controlArmed = NAN;
|
||||
controlTime = t;
|
||||
|
||||
if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0;
|
||||
|
||||
@@ -70,12 +70,7 @@ Parameter parameters[] = {
|
||||
{"RC_PITCH", &pitchChannel},
|
||||
{"RC_THROTTLE", &throttleChannel},
|
||||
{"RC_YAW", &yawChannel},
|
||||
{"RC_ARMED", &armedChannel},
|
||||
{"RC_MODE", &modeChannel},
|
||||
#if WIFI_ENABLED
|
||||
// MAVLink
|
||||
{"MAV_CTRL_SCALE", &mavlinkControlScale},
|
||||
#endif
|
||||
};
|
||||
|
||||
void setupParameters() {
|
||||
|
||||
@@ -14,7 +14,7 @@ float channelZero[16]; // calibration zero values
|
||||
float channelMax[16]; // calibration max values
|
||||
|
||||
// Channels mapping (using float to store in parameters):
|
||||
float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, armedChannel = NAN, modeChannel = NAN;
|
||||
float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
|
||||
|
||||
void setupRC() {
|
||||
print("Setup RC\n");
|
||||
@@ -42,7 +42,6 @@ void normalizeRC() {
|
||||
controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN;
|
||||
controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN;
|
||||
controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN;
|
||||
controlArmed = armedChannel >= 0 ? controls[(int)armedChannel] : NAN;
|
||||
controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
|
||||
}
|
||||
|
||||
@@ -58,8 +57,7 @@ void calibrateRC() {
|
||||
calibrateRCChannel(&yawChannel, center, max, "5/9 Move sticks [3 sec]\n... ...\n..o .o.\n... ...\n");
|
||||
calibrateRCChannel(&pitchChannel, zero, max, "6/9 Move sticks [3 sec]\n... .o.\n... ...\n.o. ...\n");
|
||||
calibrateRCChannel(&rollChannel, zero, max, "7/9 Move sticks [3 sec]\n... ...\n... ..o\n.o. ...\n");
|
||||
calibrateRCChannel(&armedChannel, zero, max, "8/9 Switch to armed [3 sec]\n");
|
||||
calibrateRCChannel(&modeChannel, zero, max, "9/9 Disarm and switch mode to max [3 sec]\n");
|
||||
calibrateRCChannel(&modeChannel, zero, max, "9/9 Put mode switch to max [3 sec]\n");
|
||||
printRCCalibration();
|
||||
}
|
||||
|
||||
@@ -94,6 +92,5 @@ void printRCCalibration() {
|
||||
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("Armed %-7g%-7g%-7g\n", armedChannel, armedChannel >= 0 ? channelZero[(int)armedChannel] : NAN, armedChannel >= 0 ? channelMax[(int)armedChannel] : NAN);
|
||||
print("Mode %-7g%-7g%-7g\n", modeChannel, modeChannel >= 0 ? channelZero[(int)modeChannel] : NAN, modeChannel >= 0 ? channelMax[(int)modeChannel] : NAN);
|
||||
}
|
||||
|
||||
@@ -4,7 +4,7 @@
|
||||
|
||||
## Building and running
|
||||
|
||||
See [building and running instructions](../docs/build.md#simulation).
|
||||
See [building and running instructions](../docs/usage.md#simulation).
|
||||
|
||||
## Code structure
|
||||
|
||||
|
||||
@@ -16,7 +16,7 @@ double t = NAN;
|
||||
float dt;
|
||||
float motors[4];
|
||||
float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
|
||||
float controlArmed = NAN, controlMode = NAN;
|
||||
float controlMode = NAN;
|
||||
Vector acc;
|
||||
Vector gyro;
|
||||
Vector rates;
|
||||
@@ -55,7 +55,6 @@ void mavlinkPrint(const char* str);
|
||||
void sendMavlinkPrint();
|
||||
inline Quaternion fluToFrd(const Quaternion &q);
|
||||
void failsafe();
|
||||
void armingFailsafe();
|
||||
void rcLossFailsafe();
|
||||
void descend();
|
||||
int parametersCount();
|
||||
|
||||
Reference in New Issue
Block a user