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Some readme change regarding using different IMU board

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Oleg Kalachev 2024-12-04 23:00:26 +03:00
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README.md
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@ -62,17 +62,18 @@ See [instructions on running the simulation](docs/build.md).
|Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1| |Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1|
|Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2| |Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2|
|Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4| |Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4|
|Frame bottom part|3D printed:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<img src="docs/img/frame1.jpg" width=100>|1| |Frame bottom part|3D printed⁴:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<img src="docs/img/frame1.jpg" width=100>|1|
|Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1| |Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
|Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|1| |Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|1|
|*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁴*|<img src="docs/img/tx.jpg" width=100>|1| |*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*|<img src="docs/img/tx.jpg" width=100>|1|
|*RC receiver (optional)*|*DF500 or other⁴*|<img src="docs/img/rx.jpg" width=100>|1| |*RC receiver (optional)*|*DF500 or other⁵*|<img src="docs/img/rx.jpg" width=100>|1|
|Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>|| |Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>||
|Tape, double-sided tape|||| |Tape, double-sided tape||||
*² — barometer is not used for now.*<br> *² — barometer is not used for now.*<br>
*³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br> *³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br>
*⁴ — you may use any transmitter-receiver pair with SBUS interface.* *⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
*⁵ — you may use any transmitter-receiver pair with SBUS interface.*
Tools required for assembly: Tools required for assembly:
@ -99,9 +100,9 @@ Complete diagram is Work-in-Progress.
### Notes ### Notes
* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins. * Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.
* Connect the GY-91 board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins: * Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins:
|GY-91 pin|ESP32 pin| |IMU pin|ESP32 pin|
|-|-| |-|-|
|GND|GND| |GND|GND|
|3.3V|3.3V| |3.3V|3.3V|
@ -128,19 +129,19 @@ Complete diagram is Work-in-Progress.
|-|-| |-|-|
|GND|GND| |GND|GND|
|VIN|VC (or 3.3V depending on the receiver)| |VIN|VC (or 3.3V depending on the receiver)|
|Signal|GPIO4⁵| |Signal|GPIO4⁶|
*⁵ — 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.* *⁶ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.*
### IMU placement ### IMU placement
Required IMU orientation on the drone is **FLU** (Forward, Left, Up)⁶: Required IMU orientation on the drone is **FLU** (Forward, Left, Up)⁷:
<img src="docs/img/flu.svg" width=400 alt="GY-91 axis"> <img src="docs/img/flu.svg" width=400 alt="GY-91 axis">
In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98). In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98).
*⁶ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.* *⁷ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.*
## Version 0 ## Version 0