aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2025-07-29 04:19:00 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into run-sim

Browse Source
This commit is contained in:
Oleg Kalachev 2024-05-24 22:35:36 +03:00
commit d0eb2dd9ba
28 changed files with 463 additions and 537 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
.editorconfig
View File

@ -9,3 +9,7 @@ charset = utf-8
indent_style = tab indent_style = tab
tab_width = 4 tab_width = 4
trim_trailing_whitespace = true trim_trailing_whitespace = true
[{*.yml,*.yaml,CMakeLists.txt}]
indent_style = space
indent_size = 2

2
.github/workflows/build.yml vendored
View File

@ -12,7 +12,7 @@ jobs:
steps: steps:
- uses: actions/checkout@v3 - uses: actions/checkout@v3
- name: Install Arduino CLI - 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
- name: Build firmware - name: Build firmware
run: make run: make

2
.gitignore vendored
View File

@ -1,5 +1,5 @@
*.hex *.hex
*.elf *.elf
gazebo/build/ build/
tools/log/ tools/log/
.dependencies .dependencies

3
Makefile
View File

@ -15,8 +15,7 @@ dependencies .dependencies:
arduino-cli core update-index --config-file arduino-cli.yaml arduino-cli core update-index --config-file arduino-cli.yaml
arduino-cli core install esp32:esp32@2.0.11 --config-file arduino-cli.yaml arduino-cli core install esp32:esp32@2.0.11 --config-file arduino-cli.yaml
arduino-cli lib update-index arduino-cli lib update-index
arduino-cli lib install "Bolder Flight Systems SBUS"@1.0.1 arduino-cli lib install "FlixPeriph"
arduino-cli lib install "Bolder Flight Systems MPU9250"@1.0.2
arduino-cli lib install "MAVLink"@2.0.1 arduino-cli lib install "MAVLink"@2.0.1
touch .dependencies touch .dependencies

12
README.md
View File

@ -38,7 +38,7 @@ Simulation in Gazebo using a plugin that runs original Arduino code is implement
<img src="docs/img/schematics.svg" width=800 alt="Flix schematics"> <img src="docs/img/schematics.svg" width=800 alt="Flix schematics">
You can also check a user contributed [variant of complete circuit diagram](https://github.com/okalachev/flix/issues/3#issue-2066079898) of the drone. You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/) of the drone.
*\* — SBUS inverter is not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).* *\* — SBUS inverter is not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
@ -49,7 +49,7 @@ You can also check a user contributed [variant of complete circuit diagram](http
|ESP32 Mini|Microcontroller board|<img src="docs/img/esp32.jpg" width=100>|1| |ESP32 Mini|Microcontroller board|<img src="docs/img/esp32.jpg" width=100>|1|
|GY-91|IMU+LDO+barometer board|<img src="docs/img/gy-91.jpg" width=100>|1| |GY-91|IMU+LDO+barometer board|<img src="docs/img/gy-91.jpg" width=100>|1|
|K100|Quadcopter frame|<img src="docs/img/frame.jpg" width=100>|1| |K100|Quadcopter frame|<img src="docs/img/frame.jpg" width=100>|1|
|8520 3.7V brushed motor|Motor|<img src="docs/img/motor.jpeg" width=100>|4| |8520 3.7V brushed motor (**shaft 0.8mm!**)|Motor|<img src="docs/img/motor.jpeg" width=100>|4|
|Hubsan 55 mm| Propeller|<img src="docs/img/prop.jpg" width=100>|4| |Hubsan 55 mm| Propeller|<img src="docs/img/prop.jpg" width=100>|4|
|2.7A 1S Dual Way Micro Brush ESC|Motor ESC|<img src="docs/img/esc.jpg" width=100>|4| |2.7A 1S Dual Way Micro Brush ESC|Motor ESC|<img src="docs/img/esc.jpg" width=100>|4|
|KINGKONG TINY X8|RC transmitter|<img src="docs/img/tx.jpg" width=100>|1| |KINGKONG TINY X8|RC transmitter|<img src="docs/img/tx.jpg" width=100>|1|
@ -57,11 +57,13 @@ You can also check a user contributed [variant of complete circuit diagram](http
||~~SBUS inverter~~*|<img src="docs/img/inv.jpg" width=100>|~~1~~| ||~~SBUS inverter~~*|<img src="docs/img/inv.jpg" width=100>|~~1~~|
|3.7 Li-Po 850 MaH 60C|Battery||| |3.7 Li-Po 850 MaH 60C|Battery|||
||Battery charger|<img src="docs/img/charger.jpg" width=100>|1| ||Battery charger|<img src="docs/img/charger.jpg" width=100>|1|
||Wires, connectors, tape, ...|| ||Wires, connectors, tape, ...|||
||3D-printed frame parts|| ||3D-printed frame parts|||
*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).* *\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
## Telegram-channel ## Materials
Subscribe to Telegram-channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. Subscribe to Telegram-channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.

24
docs/build.md
View File

@ -14,7 +14,7 @@ cd flix
1. Install Arduino CLI: 1. Install Arduino CLI:
```bash ```bash
curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/local/bin sh curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
``` ```
2. Install Gazebo 11: 2. Install Gazebo 11:
@ -36,7 +36,13 @@ cd flix
sudo apt-get update && sudo apt-get install build-essential libsdl2-dev sudo apt-get update && sudo apt-get install build-essential libsdl2-dev
``` ```
4. Run the simulation: 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 ```bash
make simulator make simulator
@ -59,6 +65,13 @@ cd flix
brew install sdl2 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: 3. Run the simulation:
```bash ```bash
@ -67,7 +80,7 @@ cd flix
### Flight ### Flight
Use USB remote control or QGroundControl mobile app (with *Virtual Joystick* setting enabled) to control the drone. Use USB remote control or QGroundControl mobile app (with *Virtual Joystick* setting enabled) to control the drone. *Auto-Center Throttle* setting **should be disabled**.
## Firmware ## Firmware
@ -75,9 +88,8 @@ Use USB remote control or QGroundControl mobile app (with *Virtual Joystick* set
1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended). 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
2. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores). 2. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
3. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library) (**versions are significant**): 3. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
* `Bolder Flight Systems SBUS`, version 1.0.1. * `FlixPeriph`.
* `Bolder Flight Systems MPU9250`, version 1.0.2.
* `MAVLink`, version 2.0.1. * `MAVLink`, version 2.0.1.
4. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master). 4. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).
5. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE. 5. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.

5
docs/firmware.md
View File

@ -8,9 +8,10 @@ The main loop is running at 1000 Hz. All the dataflow is happening through globa
* `t` *(float)* — current step time, *s*. * `t` *(float)* — current step time, *s*.
* `dt` *(float)* — time delta between the current and previous steps, *s*. * `dt` *(float)* — time delta between the current and previous steps, *s*.
* `rates` *(Vector)* — angular rates from the gyroscope, *rad/s*. * `gyro` *(Vector)* — data from the gyroscope, *rad/s*.
* `acc` *(Vector)* — acceleration data from the accelerometer, *m/s<sup>2</sup>*. * `acc` *(Vector)* — acceleration data from the accelerometer, *m/s<sup>2</sup>*.
* `attitude` *(Quaternion)* — current estimated attitude (orientation) of drone. * `rates` *(Vector)* — filtered angular rates, *rad/s*.
* `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
* `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range. * `controls` *(float[])* — user control inputs from the RC, normalized to [-1, 1] range.
* `motors` *(float[])* — motor outputs, normalized to [-1, 1] range; reverse rotation is possible. * `motors` *(float[])* — motor outputs, normalized to [-1, 1] range; reverse rotation is possible.

505
docs/img/dataflow.svg
View File

@ -2,181 +2,19 @@
<!-- Created with Inkscape (http://www.inkscape.org/) --> <!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg <svg
width="613.59802mm"
height="267.24701mm"
viewBox="0 -10 613.59802 267.247"
version="1.1" version="1.1"
id="svg1" id="svg1"
width="2431.925" xml:space="preserve"
height="1044.4771" inkscape:version="1.3.2 (091e20e, 2023-11-25)"
viewBox="0 0 2431.9251 1044.4771" sodipodi:docname="dataflow.svg"
sodipodi:docname="flix-primakova-22.svg"
inkscape:version="1.3 (0e150ed, 2023-07-21)"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xlink="http://www.w3.org/1999/xlink"
xmlns="http://www.w3.org/2000/svg" xmlns="http://www.w3.org/2000/svg"
xmlns:svg="http://www.w3.org/2000/svg"> xmlns:svg="http://www.w3.org/2000/svg"><sodipodi:namedview
<defs
id="defs1">
<color-profile
inkscape:label="sRGB IEC61966-2.1"
name="sRGB-IEC61966-2.1"
xlink:href="data:application/vnd.iccprofile;base64,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"
id="color-profile2" />
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath2">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path2" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath4">
<path
d="m 745.9206,375.0079 h 404.1921 V 493.7148 H 745.9206 Z"
transform="matrix(1,0,0,-1,-874.5547,410.75391)"
id="path4" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath6">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path6" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath7">
<path
d="m 734.9959,651.142 h 426.0414 V 769.8489 H 734.9959 Z"
transform="matrix(1,0,0,-1,-786.22464,686.88802)"
id="path7" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath9">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path9" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath10">
<path
d="m 67.84839,771.7229 h 404.1921 V 890.4298 H 67.84839 Z"
transform="matrix(1,0,0,-1,-172.21011,807.46902)"
id="path10" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath12">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path12" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath13">
<path
d="m 1452.804,771.7229 h 375.3804 V 890.4298 H 1452.804 Z"
transform="matrix(1,0,0,-1,-1500.8361,807.46902)"
id="path13" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath15">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path15" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath16">
<path
d="m 1452.804,226.7937 h 375.3804 V 345.5006 H 1452.804 Z"
transform="matrix(1,0,0,-1,-1499.533,262.53983)"
id="path16" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath18">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-451.65591,778.64052)"
id="path18" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath20">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path20" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath21">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(0.98150515,-0.1914358,-0.1914358,-0.98150515,-353.6359,868.10017)"
id="path21" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath23">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(0.89875521,0.43845065,0.43845065,-0.89875521,-1406.8193,-156.93149)"
id="path23" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath25">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(0.98480768,0.17364817,0.17364817,-0.98480768,-1344.8142,527.62156)"
id="path25" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath27">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-1132.0071,771.72292)"
id="path27" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath30">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-1142.931,782.32692)"
id="path30" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath33">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-1656.51,771.72572)"
id="path33" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath35">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-1703.37,542.87351)"
id="path35" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath37">
<path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-270.40501,771.68402)"
id="path37" />
</clipPath>
</defs>
<sodipodi:namedview
id="namedview1" id="namedview1"
pagecolor="#ffffff" pagecolor="#ffffff"
bordercolor="#666666" bordercolor="#666666"
@ -185,279 +23,308 @@
inkscape:pageopacity="0.0" inkscape:pageopacity="0.0"
inkscape:pagecheckerboard="0" inkscape:pagecheckerboard="0"
inkscape:deskcolor="#d1d1d1" inkscape:deskcolor="#d1d1d1"
showgrid="false" inkscape:document-units="mm"
showguides="false" inkscape:zoom="0.34862039"
inkscape:zoom="0.31949673" inkscape:cx="1219.091"
inkscape:cx="1292.658" inkscape:cy="608.1113"
inkscape:cy="316.12217"
inkscape:window-width="1496" inkscape:window-width="1496"
inkscape:window-height="905" inkscape:window-height="905"
inkscape:window-x="0" inkscape:window-x="0"
inkscape:window-y="34" inkscape:window-y="34"
inkscape:window-maximized="1" inkscape:window-maximized="1"
inkscape:current-layer="g1"> inkscape:current-layer="svg1"><inkscape:page
<inkscape:page
x="0" x="0"
y="0" y="0"
inkscape:label="1" width="613.59802"
id="page1" height="267.24701"
width="2431.925" id="page2"
height="1044.4771"
margin="0" margin="0"
bleed="0" /> bleed="0" /><inkscape:page
</sodipodi:namedview> x="-30.32262"
<g y="-66.876167"
width="677.33331"
height="381"
id="page3"
margin="0"
bleed="0" /></sodipodi:namedview><defs
id="defs1"><color-profile
inkscape:label="sRGB IEC61966-2.1"
name="sRGB-IEC61966-2.1"
xlink:href="data:application/vnd.iccprofile;base64,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"
id="color-profile1" /><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath2"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path2" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath4"><path
d="m 745.9206,375.0079 h 404.1921 V 493.7148 H 745.9206 Z"
transform="matrix(1,0,0,-1,-874.5547,410.75391)"
id="path4" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath6"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path6" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath7"><path
d="m 734.9959,651.142 h 426.0414 V 769.8489 H 734.9959 Z"
transform="matrix(1,0,0,-1,-786.22464,686.88802)"
id="path7" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath9"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path9" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath10"><path
d="m 67.84839,771.7229 h 404.1921 V 890.4298 H 67.84839 Z"
transform="matrix(1,0,0,-1,-172.21011,807.46902)"
id="path10" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath12"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path12" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath13"><path
d="m 1452.804,771.7229 h 375.3804 V 890.4298 H 1452.804 Z"
transform="matrix(1,0,0,-1,-1500.8361,807.46902)"
id="path13" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath15"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path15" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath16"><path
d="m 1452.804,226.7937 h 375.3804 V 345.5006 H 1452.804 Z"
transform="matrix(1,0,0,-1,-1499.533,262.53983)"
id="path16" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath18"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-451.65591,778.64052)"
id="path18" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath20"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
id="path20" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath21"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(0.98150515,-0.1914358,-0.1914358,-0.98150515,-353.6359,868.10017)"
id="path21" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath23"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(0.89875521,0.43845065,0.43845065,-0.89875521,-1406.8193,-156.93149)"
id="path23" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath25"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(0.98480768,0.17364817,0.17364817,-0.98480768,-1293.1181,526.43111)"
id="path25" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath27"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-1132.0071,771.72292)"
id="path27" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath30"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-1142.931,782.32692)"
id="path30" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath33"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-1656.51,771.72572)"
id="path33" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath35"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-1703.37,542.87351)"
id="path35" /></clipPath><clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath37"><path
d="M 0,0 H 1920 V 1080 H 0 Z"
transform="matrix(1,0,0,-1,-270.40501,771.68402)"
id="path37" /></clipPath></defs><g
inkscape:label="Layer 1"
inkscape:groupmode="layer"
id="layer1"
transform="translate(-250.32262,-66.876165)" /><g
id="g1" id="g1"
inkscape:groupmode="layer" inkscape:groupmode="layer"
inkscape:label="1" inkscape:label="1"
transform="translate(-59.605,-197.76013)"> transform="matrix(0.26458333,0,0,0.26458334,-30.322612,-66.876165)"><g
<rect id="g2"><path
style="font-variation-settings:normal;opacity:0.468447;vector-effect:none;fill:#ffffff;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;-inkscape-stroke:none;stop-color:#000000;stop-opacity:1"
id="rect38"
width="2431.925"
height="1044.4771"
x="59.605"
y="197.76013"
inkscape:label="rect38" />
<g
id="g2">
<path
id="path3" id="path3"
d="m 786.6761,493.7148 h 322.6809 c 6.647,0 10.635,0 13.293,-1.11 3.833,-1.3949 6.852,-4.4141 8.247,-8.2468 1.11,-2.6586 1.11,-6.6466 1.11,-13.2932 v -73.4069 c 0,-6.6466 0,-10.6346 -1.11,-13.2932 -1.395,-3.8327 -4.414,-6.8518 -8.247,-8.2468 -2.658,-1.11 -6.646,-1.11 -13.293,-1.11 H 786.6761 c -6.6467,0 -10.6346,0 -13.2933,1.11 -3.8327,1.395 -6.8518,4.4141 -8.2468,8.2468 -1.1099,2.6586 -1.1099,6.6466 -1.1099,13.2932 v 73.4069 c 0,6.6466 0,10.6346 1.1099,13.2932 1.395,3.8327 4.4141,6.8519 8.2468,8.2468 2.6587,1.11 6.6466,1.11 13.2933,1.11 z" d="m 786.6761,493.7148 h 322.6809 c 6.647,0 10.635,0 13.293,-1.11 3.833,-1.3949 6.852,-4.4141 8.247,-8.2468 1.11,-2.6586 1.11,-6.6466 1.11,-13.2932 v -73.4069 c 0,-6.6466 0,-10.6346 -1.11,-13.2932 -1.395,-3.8327 -4.414,-6.8518 -8.247,-8.2468 -2.658,-1.11 -6.646,-1.11 -13.293,-1.11 H 786.6761 c -6.6467,0 -10.6346,0 -13.2933,1.11 -3.8327,1.395 -6.8518,4.4141 -8.2468,8.2468 -1.1099,2.6586 -1.1099,6.6466 -1.1099,13.2932 v 73.4069 c 0,6.6466 0,10.6346 1.1099,13.2932 1.395,3.8327 4.4141,6.8519 8.2468,8.2468 2.6587,1.11 6.6466,1.11 13.2933,1.11 z"
style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /> transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /></g><g
</g> id="g3"><text
<g
id="g3">
<text
id="text3" id="text3"
xml:space="preserve" xml:space="preserve"
transform="matrix(1.3333333,0,0,1.3333333,1166.0729,892.32813)" transform="matrix(1.3333333,0,0,1.3333333,1166.0729,892.32813)"
clip-path="url(#clipPath4)"><tspan clip-path="url(#clipPath4)"><tspan
style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none" style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
x="0 21.33 49.02 67.169998 80.879997 114.33" x="0 21.33 49.02 67.169998 80.879997 114.33"
y="0" y="0"
sodipodi:role="line" sodipodi:role="line"
id="tspan3">rc.ino</tspan></text> id="tspan3">rc.ino</tspan></text></g><g
</g> id="g4"><path
<g
id="g4">
<path
id="path5" id="path5"
d="m 775.7514,769.8489 h 344.5306 c 6.646,0 10.634,0 13.293,-1.11 3.833,-1.395 6.852,-4.4141 8.247,-8.2468 1.11,-2.6586 1.11,-6.6466 1.11,-13.2932 V 673.792 c 0,-6.6466 0,-10.6346 -1.11,-13.2932 -1.395,-3.8327 -4.414,-6.8519 -8.247,-8.2468 -2.659,-1.11 -6.647,-1.11 -13.293,-1.11 H 775.7514 c -6.6466,0 -10.6346,0 -13.2933,1.11 -3.8326,1.3949 -6.8518,4.4141 -8.2468,8.2468 -1.1099,2.6586 -1.1099,6.6466 -1.1099,13.2932 v 73.4069 c 0,6.6466 0,10.6346 1.1099,13.2932 1.395,3.8327 4.4142,6.8518 8.2468,8.2468 2.6587,1.11 6.6467,1.11 13.2933,1.11 z" d="m 775.7514,769.8489 h 344.5306 c 6.646,0 10.634,0 13.293,-1.11 3.833,-1.395 6.852,-4.4141 8.247,-8.2468 1.11,-2.6586 1.11,-6.6466 1.11,-13.2932 V 673.792 c 0,-6.6466 0,-10.6346 -1.11,-13.2932 -1.395,-3.8327 -4.414,-6.8519 -8.247,-8.2468 -2.659,-1.11 -6.647,-1.11 -13.293,-1.11 H 775.7514 c -6.6466,0 -10.6346,0 -13.2933,1.11 -3.8326,1.3949 -6.8518,4.4141 -8.2468,8.2468 -1.1099,2.6586 -1.1099,6.6466 -1.1099,13.2932 v 73.4069 c 0,6.6466 0,10.6346 1.1099,13.2932 1.395,3.8327 4.4142,6.8518 8.2468,8.2468 2.6587,1.11 6.6467,1.11 13.2933,1.11 z"
style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" transform="matrix(1.3333333,0,0,-1.3333333,0,1440)"
clip-path="url(#clipPath6)" /> clip-path="url(#clipPath6)" /></g><g
</g> id="g6"><text
<g
id="g6">
<text
id="text6" id="text6"
xml:space="preserve" xml:space="preserve"
transform="matrix(1.3333333,0,0,1.3333333,1048.2995,524.14933)" transform="matrix(1.3333333,0,0,1.3333333,1048.2995,524.14933)"
clip-path="url(#clipPath7)"><tspan clip-path="url(#clipPath7)"><tspan
style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none" style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
x="0 31.584 58.368 78.431999 92.136002 142.5 173.964 194.028 225.612 243.756 257.45999 290.90399" x="0 31.584 58.368 78.431999 92.136002 142.5 173.964 194.028 225.612 243.756 257.45999 290.90399"
y="0" y="0"
sodipodi:role="line" sodipodi:role="line"
id="tspan6">estimate.ino</tspan></text> id="tspan6">estimate.ino</tspan></text></g><g
</g> id="g7"><path
<g
id="g7">
<path
id="path8" id="path8"
d="M 108.6039,890.4298 H 431.285 c 6.6466,0 10.6346,0 13.2932,-1.1099 3.8327,-1.395 6.8519,-4.4142 8.2468,-8.2468 1.11,-2.6587 1.11,-6.6467 1.11,-13.2933 V 794.373 c 0,-6.6467 0,-10.6346 -1.11,-13.2933 -1.3949,-3.8327 -4.4141,-6.8518 -8.2468,-8.2468 -2.6586,-1.11 -6.6466,-1.11 -13.2932,-1.11 H 108.6039 c -6.6467,0 -10.63463,0 -13.29329,1.11 -3.83267,1.395 -6.85182,4.4141 -8.2468,8.2468 -1.10995,2.6587 -1.10995,6.6466 -1.10995,13.2933 v 73.4068 c 0,6.6466 0,10.6346 1.10995,13.2933 1.39498,3.8326 4.41413,6.8518 8.2468,8.2468 2.65866,1.1099 6.64659,1.1099 13.29329,1.1099 z" d="M 108.6039,890.4298 H 431.285 c 6.6466,0 10.6346,0 13.2932,-1.1099 3.8327,-1.395 6.8519,-4.4142 8.2468,-8.2468 1.11,-2.6587 1.11,-6.6467 1.11,-13.2933 V 794.373 c 0,-6.6467 0,-10.6346 -1.11,-13.2933 -1.3949,-3.8327 -4.4141,-6.8518 -8.2468,-8.2468 -2.6586,-1.11 -6.6466,-1.11 -13.2932,-1.11 H 108.6039 c -6.6467,0 -10.63463,0 -13.29329,1.11 -3.83267,1.395 -6.85182,4.4141 -8.2468,8.2468 -1.10995,2.6587 -1.10995,6.6466 -1.10995,13.2933 v 73.4068 c 0,6.6466 0,10.6346 1.10995,13.2933 1.39498,3.8326 4.41413,6.8518 8.2468,8.2468 2.65866,1.1099 6.64659,1.1099 13.29329,1.1099 z"
style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" transform="matrix(1.3333333,0,0,-1.3333333,0,1440)"
clip-path="url(#clipPath9)" /> clip-path="url(#clipPath9)" /></g><g
</g> id="g9"><text
<g
id="g9">
<text
id="text9" id="text9"
xml:space="preserve" xml:space="preserve"
transform="matrix(1.3333333,0,0,1.3333333,229.61347,363.37467)" transform="matrix(1.3333333,0,0,1.3333333,229.61347,363.37467)"
clip-path="url(#clipPath10)"><tspan clip-path="url(#clipPath10)"><tspan
style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none" style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
x="0 13.71 64.080002 97.529999 115.68 129.39 162.84" x="0 13.71 64.080002 97.529999 115.68 129.39 162.84"
y="0" y="0"
sodipodi:role="line" sodipodi:role="line"
id="tspan9">imu.ino</tspan></text> id="tspan9">imu.ino</tspan></text></g><g
</g> id="g10"><path
<g
id="g10">
<path
id="path11" id="path11"
d="m 1493.56,890.4298 h 293.869 c 6.647,0 10.635,0 13.294,-1.1099 3.832,-1.395 6.851,-4.4142 8.246,-8.2468 1.11,-2.6587 1.11,-6.6467 1.11,-13.2933 V 794.373 c 0,-6.6467 0,-10.6346 -1.11,-13.2933 -1.395,-3.8327 -4.414,-6.8518 -8.246,-8.2468 -2.659,-1.11 -6.647,-1.11 -13.294,-1.11 H 1493.56 c -6.647,0 -10.635,0 -13.293,1.11 -3.833,1.395 -6.852,4.4141 -8.247,8.2468 -1.11,2.6587 -1.11,6.6466 -1.11,13.2933 v 73.4068 c 0,6.6466 0,10.6346 1.11,13.2933 1.395,3.8326 4.414,6.8518 8.247,8.2468 2.658,1.1099 6.646,1.1099 13.293,1.1099 z" d="m 1493.56,890.4298 h 293.869 c 6.647,0 10.635,0 13.294,-1.1099 3.832,-1.395 6.851,-4.4142 8.246,-8.2468 1.11,-2.6587 1.11,-6.6467 1.11,-13.2933 V 794.373 c 0,-6.6467 0,-10.6346 -1.11,-13.2933 -1.395,-3.8327 -4.414,-6.8518 -8.246,-8.2468 -2.659,-1.11 -6.647,-1.11 -13.294,-1.11 H 1493.56 c -6.647,0 -10.635,0 -13.293,1.11 -3.833,1.395 -6.852,4.4141 -8.247,8.2468 -1.11,2.6587 -1.11,6.6466 -1.11,13.2933 v 73.4068 c 0,6.6466 0,10.6346 1.11,13.2933 1.395,3.8326 4.414,6.8518 8.247,8.2468 2.658,1.1099 6.646,1.1099 13.293,1.1099 z"
style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" transform="matrix(1.3333333,0,0,-1.3333333,0,1440)"
clip-path="url(#clipPath12)" /> clip-path="url(#clipPath12)" /></g><g
</g> id="g12"><text
<g
id="g12">
<text
id="text12" id="text12"
xml:space="preserve" xml:space="preserve"
transform="matrix(1.3333333,0,0,1.3333333,2001.1147,363.37467)" transform="matrix(1.3333333,0,0,1.3333333,2001.1147,363.37467)"
clip-path="url(#clipPath13)"><tspan clip-path="url(#clipPath13)"><tspan
style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none" style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
x="0 27.684 60.264 93.720001 113.79 135.12 167.7 181.41 199.57201 213.282 246.73801" x="0 27.684 60.264 93.720001 113.79 135.12 167.7 181.41 199.57201 213.282 246.73801"
y="0" y="0"
sodipodi:role="line" sodipodi:role="line"
id="tspan12">control.ino</tspan></text> id="tspan12">control.ino</tspan></text></g><g
</g> id="g13"><path
<g
id="g13">
<path
id="path14" id="path14"
d="m 1493.56,345.5006 h 293.869 c 6.647,0 10.635,0 13.294,-1.1099 3.832,-1.395 6.851,-4.4142 8.246,-8.2468 1.11,-2.6587 1.11,-6.6467 1.11,-13.2933 v -73.4068 c 0,-6.6467 0,-10.6346 -1.11,-13.2933 -1.395,-3.8327 -4.414,-6.8518 -8.246,-8.2468 -2.659,-1.11 -6.647,-1.11 -13.294,-1.11 H 1493.56 c -6.647,0 -10.635,0 -13.293,1.11 -3.833,1.395 -6.852,4.4141 -8.247,8.2468 -1.11,2.6587 -1.11,6.6466 -1.11,13.2933 v 73.4068 c 0,6.6466 0,10.6346 1.11,13.2933 1.395,3.8326 4.414,6.8518 8.247,8.2468 2.658,1.1099 6.646,1.1099 13.293,1.1099 z" d="m 1493.56,345.5006 h 293.869 c 6.647,0 10.635,0 13.294,-1.1099 3.832,-1.395 6.851,-4.4142 8.246,-8.2468 1.11,-2.6587 1.11,-6.6467 1.11,-13.2933 v -73.4068 c 0,-6.6467 0,-10.6346 -1.11,-13.2933 -1.395,-3.8327 -4.414,-6.8518 -8.246,-8.2468 -2.659,-1.11 -6.647,-1.11 -13.294,-1.11 H 1493.56 c -6.647,0 -10.635,0 -13.293,1.11 -3.833,1.395 -6.852,4.4141 -8.247,8.2468 -1.11,2.6587 -1.11,6.6466 -1.11,13.2933 v 73.4068 c 0,6.6466 0,10.6346 1.11,13.2933 1.395,3.8326 4.414,6.8518 8.247,8.2468 2.658,1.1099 6.646,1.1099 13.293,1.1099 z"
style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#0076ba;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" transform="matrix(1.3333333,0,0,-1.3333333,0,1440)"
clip-path="url(#clipPath15)" /> clip-path="url(#clipPath15)" /></g><g
</g> id="g15"><text
<g
id="g15">
<text
id="text15" id="text15"
xml:space="preserve" xml:space="preserve"
transform="matrix(1.3333333,0,0,1.3333333,1999.3773,1089.9469)" transform="matrix(1.3333333,0,0,1.3333333,1999.3773,1089.9469)"
clip-path="url(#clipPath16)"><tspan clip-path="url(#clipPath16)"><tspan
style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none" style="font-variant:normal;font-weight:normal;font-size:60px;font-family:Tahoma;writing-mode:lr-tb;fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
x="0 50.388 82.968002 103.038 135.618 157.242 184.02 202.18201 215.892 249.34801" x="0 50.388 82.968002 103.038 135.618 157.242 184.02 202.18201 215.892 249.34801"
y="0" y="0"
sodipodi:role="line" sodipodi:role="line"
id="tspan15">motors.ino</tspan></text> id="tspan15">motors.ino</tspan></text></g><g
</g> id="g16"><path
<g
id="g16">
<path
id="path17" id="path17"
d="m 0,0 c 89.24774,21.64997 181.7839,38.35706 277.6084,50.12129 l 2.9802,0.35217" d="m 0,0 c 89.24774,21.64997 181.7839,38.35706 277.6084,50.12129 l 2.9802,0.35217"
style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
transform="matrix(1.3333333,0,0,1.3333333,602.20787,401.81267)" transform="matrix(1.3333333,0,0,1.3333333,602.20787,401.81267)"
clip-path="url(#clipPath18)" /> clip-path="url(#clipPath18)" /><path
<path
id="path19" id="path19"
d="m 727.8571,716.602 25.2424,9.1006 -22.426,14.7336 z" d="m 727.8571,716.602 25.2424,9.1006 -22.426,14.7336 z"
style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" transform="matrix(1.3333333,0,0,-1.3333333,0,1440)"
clip-path="url(#clipPath20)" /> clip-path="url(#clipPath20)" /></g><g
</g> id="g20" /><g
<g id="g21"><text
id="g20" />
<g
id="g21">
<text
id="text21" id="text21"
xml:space="preserve" xml:space="preserve"
transform="matrix(1.3086735,0.25524773,-0.25524773,1.3086735,684.37453,394.20507)" transform="matrix(1.3086735,0.25524773,-0.25524773,1.3086735,684.37453,394.20507)"
clip-path="url(#clipPath21)"><tspan clip-path="url(#clipPath21)"><tspan
style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none" style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
x="0 13.732 34.743999 48.116001 69.167999 87.019997 99.112 111.604 132.616 150.948" x="0 22.108 42.028 56.248001 77.400002 89.508003 102.008 123.004 141.34399"
y="0" y="0"
sodipodi:role="line" sodipodi:role="line"
id="tspan21">rates, acc</tspan></text> id="tspan21">gyro, acc</tspan></text></g><g
</g> id="g22" /><g
<g id="g23"><text
id="g22" />
<g
id="g23">
<text
id="text23" id="text23"
xml:space="preserve" xml:space="preserve"
transform="matrix(1.1983404,-0.58460093,0.58460093,1.1983404,1777.5907,805.62947)" transform="matrix(1.1983404,-0.58460093,0.58460093,1.1983404,1777.5907,805.62947)"
clip-path="url(#clipPath23)"><tspan clip-path="url(#clipPath23)"><tspan
style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none" style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
x="0 18.455999 40.175999 62.48 75.860001 90.080002 111.8 120.94 138.79201 154.104 175.94 197.776" x="0 18.455999 40.175999 62.48 75.860001 90.080002 111.8 120.94 138.79201 154.104 175.94 197.776"
y="0" y="0"
sodipodi:role="line" sodipodi:role="line"
id="tspan23">controls[16]</tspan></text> id="tspan23">controls[16]</tspan></text></g><g
</g> id="g24" /><g
<g id="g25"><text
id="g24" />
<g
id="g25">
<text
id="text25" id="text25"
xml:space="preserve" xml:space="preserve"
transform="matrix(1.3130771,-0.23153093,0.23153093,1.3130771,1643.684,435.82613)" transform="matrix(1.3130771,-0.23153093,0.23153093,1.3130771,1576.0787,449.35853)"
clip-path="url(#clipPath25)"><tspan clip-path="url(#clipPath25)"><tspan
style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none" style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
x="0 20.996 34.071999 47.467999 56.703999 70.099998 92.416 114.532" x="0 13.732 34.743999 48.116001 69.167999 87.019997 99.112 111.604 132.616 145.668 159.03999 168.252 181.62399 203.916 226.008"
y="0" y="0"
sodipodi:role="line" sodipodi:role="line"
id="tspan25">attitude</tspan></text> id="tspan25">rates, attitude</tspan></text></g><g
</g> id="g26"><path
<g
id="g26">
<path
id="path26" id="path26"
d="M 0,306.3767 C 237.7238,253.1408 395.5189,158.083 473.3852,21.20323 l 1.4097,-2.65533" d="M 0,306.3767 C 237.7238,253.1408 395.5189,158.083 473.3852,21.20323 l 1.4097,-2.65533"
style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
transform="matrix(1.3333333,0,0,1.3333333,1509.3427,411.03613)" transform="matrix(1.3333333,0,0,1.3333333,1509.3427,411.03613)"
clip-path="url(#clipPath27)" /> clip-path="url(#clipPath27)" /><path
<path
id="path28" id="path28"
d="m 1615.994,744.8981 0.656,26.8248 -21.853,-15.5703 z" d="m 1615.994,744.8981 0.656,26.8248 -21.853,-15.5703 z"
style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /> transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /></g><g
</g> id="g28"><path
<g
id="g28">
<path
id="path29" id="path29"
d="M 0,60.29815 C 99.1961,49.5746 200.9904,31.41576 305.383,5.821648 l 2.914,-0.728473" d="M 0,60.29815 C 99.1961,49.5746 200.9904,31.41576 305.383,5.821648 l 2.914,-0.728473"
style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
transform="matrix(1.3333333,0,0,1.3333333,1523.908,396.89747)" transform="matrix(1.3333333,0,0,1.3333333,1523.908,396.89747)"
clip-path="url(#clipPath30)" /> clip-path="url(#clipPath30)" /><path
<path
id="path31" id="path31"
d="m 1451.228,764.8644 20.373,17.4625 -26.194,5.821 z" d="m 1451.228,764.8644 20.373,17.4625 -26.194,5.821 z"
style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /> transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /></g><g
</g> id="g31"><path
<g
id="g31">
<path
id="path32" id="path32"
d="M 5.061111,0 C 39.5121,116.8397 39.6576,251.1261 5.497595,402.859 l -0.68786,2.9234" d="M 5.061111,0 C 39.5121,116.8397 39.6576,251.1261 5.497595,402.859 l -0.68786,2.9234"
style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" style="fill:none;stroke:#d5d5d5;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
transform="matrix(1.3333333,0,0,1.3333333,2208.68,411.0324)" transform="matrix(1.3333333,0,0,1.3333333,2208.68,411.0324)"
clip-path="url(#clipPath33)" /> clip-path="url(#clipPath33)" /><path
<path
id="path34" id="path34"
d="m 1650.326,371.6119 6.184,-26.1104 17.178,20.6136 z" d="m 1650.326,371.6119 6.184,-26.1104 17.178,20.6136 z"
style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#d5d5d5;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /> transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /></g><g
</g> id="g34" /><g
<g id="g35"><text
id="g34" />
<g
id="g35">
<text
id="text35" id="text35"
xml:space="preserve" xml:space="preserve"
transform="matrix(1.3333333,0,0,1.3333333,2271.16,716.16867)" transform="matrix(1.3333333,0,0,1.3333333,2271.16,716.16867)"
clip-path="url(#clipPath35)"><tspan clip-path="url(#clipPath35)"><tspan
style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma,Arial;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none" style="font-variant:normal;font-weight:normal;font-size:40px;font-family:Tahoma;writing-mode:lr-tb;fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
x="0 33.591999 55.312 68.692001 90.412003 104.828" x="0 33.591999 55.312 68.692001 90.412003 104.828"
y="0" y="0"
sodipodi:role="line" sodipodi:role="line"
id="tspan35">motors</tspan></text> id="tspan35">motors</tspan></text></g><g
</g> id="g36"><path
<g
id="g36">
<path
id="path36" id="path36"
d="M 1200.4,523.3549 C 431.1994,677.8194 31.45986,511.3581 1.181784,23.97107 L 1.034053,20.97453" d="M 1200.4,523.3549 C 431.1994,677.8194 31.45986,511.3581 1.181784,23.97107 L 1.034053,20.97453"
style="fill:none;stroke:#ff9300;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:12, 12;stroke-dashoffset:0;stroke-opacity:1" style="fill:none;stroke:#ff9300;stroke-width:6;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:12, 12;stroke-dashoffset:0;stroke-opacity:1"
transform="matrix(1.3333333,0,0,1.3333333,360.54,411.088)" transform="matrix(1.3333333,0,0,1.3333333,360.54,411.088)"
clip-path="url(#clipPath37)" /> clip-path="url(#clipPath37)" /><path
<path
id="path38" id="path38"
d="m 283.5722,748.304 -13.1672,23.38 -10.8036,-24.5618 z" d="m 283.5722,748.304 -13.1672,23.38 -10.8036,-24.5618 z"
style="fill:#ff9300;fill-opacity:1;fill-rule:nonzero;stroke:none" style="fill:#ff9300;fill-opacity:1;fill-rule:nonzero;stroke:none"
transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /> transform="matrix(1.3333333,0,0,-1.3333333,0,1440)" /></g></g></svg>
</g>
</g>
</svg>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 23 KiB

After

Width:  |  Height:  |  Size: 22 KiB

2
flix/cli.ino
View File

@ -30,6 +30,7 @@ const char* motd =
"cr - calibrate RC\n" "cr - calibrate RC\n"
"cg - calibrate gyro\n" "cg - calibrate gyro\n"
"ca - calibrate accel\n" "ca - calibrate accel\n"
"mfr, mfl, mrr, mrl - test appropriate motor\n"
"fullmot <n> - full motor test\n" "fullmot <n> - full motor test\n"
"reset - reset drone's state\n"; "reset - reset drone's state\n";
@ -72,6 +73,7 @@ void doCommand(String& command, String& value) {
Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z); Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z); Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
printIMUCal(); printIMUCal();
Serial.printf("frequency: %f\n", loopFreq);
} else if (command == "rc") { } else if (command == "rc") {
Serial.printf("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n", Serial.printf("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n",
channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH], channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH],

24
flix/control.ino
View File

@ -32,10 +32,9 @@
#define YAWRATE_MAX radians(360) #define YAWRATE_MAX radians(360)
#define MAX_TILT radians(30) #define MAX_TILT radians(30)
#define RATES_LFP_ALPHA 0.8 // cutoff frequency ~ 250 Hz
#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
enum { MANUAL, ACRO, STAB } mode = STAB; enum { MANUAL, ACRO, STAB, USER } mode = STAB;
enum { YAW, YAW_RATE } yawMode = YAW; enum { YAW, YAW_RATE } yawMode = YAW;
bool armed = false; bool armed = false;
@ -46,8 +45,6 @@ PID rollPID(ROLL_P, ROLL_I, ROLL_D);
PID pitchPID(PITCH_P, PITCH_I, PITCH_D); PID pitchPID(PITCH_P, PITCH_I, PITCH_D);
PID yawPID(YAW_P, 0, 0); PID yawPID(YAW_P, 0, 0);
LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
Quaternion attitudeTarget; Quaternion attitudeTarget;
Vector ratesTarget; Vector ratesTarget;
Vector torqueTarget; Vector torqueTarget;
@ -68,6 +65,8 @@ void control() {
} }
void interpretRC() { void interpretRC() {
armed = controls[RC_CHANNEL_THROTTLE] >= 0.05 && controls[RC_CHANNEL_ARMED] >= 0.5;
// NOTE: put ACRO or MANUAL modes there if you want to use them // NOTE: put ACRO or MANUAL modes there if you want to use them
if (controls[RC_CHANNEL_MODE] < 0.25) { if (controls[RC_CHANNEL_MODE] < 0.25) {
mode = STAB; mode = STAB;
@ -77,7 +76,6 @@ void interpretRC() {
mode = STAB; mode = STAB;
} }
armed = controls[RC_CHANNEL_THROTTLE] >= 0.05 && controls[RC_CHANNEL_ARMED] >= 0.5;
thrustTarget = controls[RC_CHANNEL_THROTTLE]; thrustTarget = controls[RC_CHANNEL_THROTTLE];
if (mode == ACRO) { if (mode == ACRO) {
@ -89,10 +87,10 @@ void interpretRC() {
} else if (mode == STAB) { } else if (mode == STAB) {
yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE; yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE;
attitudeTarget = Quaternion::fromEulerZYX( attitudeTarget = Quaternion::fromEulerZYX(Vector(
controls[RC_CHANNEL_ROLL] * MAX_TILT, controls[RC_CHANNEL_ROLL] * MAX_TILT,
-controls[RC_CHANNEL_PITCH] * MAX_TILT, -controls[RC_CHANNEL_PITCH] * MAX_TILT,
attitudeTarget.getYaw()); attitudeTarget.getYaw()));
ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX; ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX;
} else if (mode == MANUAL) { } else if (mode == MANUAL) {
@ -137,8 +135,7 @@ void controlRate() {
return; return;
} }
Vector ratesFiltered = ratesFilter.update(rates); Vector error = ratesTarget - rates;
Vector error = ratesTarget - ratesFiltered;
// Calculate desired torque, where 0 - no torque, 1 - maximum possible torque // Calculate desired torque, where 0 - no torque, 1 - maximum possible torque
torqueTarget.x = rollRatePID.update(error.x, dt); torqueTarget.x = rollRatePID.update(error.x, dt);
@ -152,10 +149,10 @@ void controlTorque() {
return; return;
} }
motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.y + torqueTarget.x - torqueTarget.z; motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
motors[MOTOR_FRONT_RIGHT] = thrustTarget + torqueTarget.y - torqueTarget.x + torqueTarget.z; motors[MOTOR_FRONT_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;
motors[MOTOR_REAR_LEFT] = thrustTarget - torqueTarget.y + torqueTarget.x + torqueTarget.z; motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x - torqueTarget.y + torqueTarget.z;
motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.y - torqueTarget.x - torqueTarget.z; motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x - torqueTarget.y - torqueTarget.z;
motors[0] = constrain(motors[0], 0, 1); motors[0] = constrain(motors[0], 0, 1);
motors[1] = constrain(motors[1], 0, 1); motors[1] = constrain(motors[1], 0, 1);
@ -172,6 +169,7 @@ const char* getModeName() {
case MANUAL: return "MANUAL"; case MANUAL: return "MANUAL";
case ACRO: return "ACRO"; case ACRO: return "ACRO";
case STAB: return "STAB"; case STAB: return "STAB";
case USER: return "USER";
default: return "UNKNOWN"; default: return "UNKNOWN";
} }
} }

9
flix/estimate.ino
View File

@ -5,9 +5,13 @@
#include "quaternion.h" #include "quaternion.h"
#include "vector.h" #include "vector.h"
#include "lpf.h"
#define ONE_G 9.807f #define ONE_G 9.807f
#define WEIGHT_ACC 0.5f #define WEIGHT_ACC 0.5f
#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
void estimate() { void estimate() {
applyGyro(); applyGyro();
@ -16,7 +20,10 @@ void estimate() {
} }
void applyGyro() { void applyGyro() {
// applying gyro // filter gyro to get angular rates
rates = ratesFilter.update(gyro);
// apply rates to attitude
attitude *= Quaternion::fromAngularRates(rates * dt); attitude *= Quaternion::fromAngularRates(rates * dt);
attitude.normalize(); attitude.normalize();
} }

8
flix/flix.ino
View File

@ -26,10 +26,11 @@
float t = NAN; // current step time, s float t = NAN; // current step time, s
float dt; // time delta from previous step, s float dt; // time delta from previous step, s
float loopFreq; // loop frequency, Hz float loopFreq; // loop frequency, Hz
uint16_t channels[16]; // raw rc channels int16_t channels[16]; // raw rc channels
float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle) float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
Vector rates; // angular rates, rad/s Vector gyro; // gyroscope data
Vector acc; // accelerometer data, m/s/s Vector acc; // accelerometer data, m/s/s
Vector rates; // filtered angular rates, rad/s
Quaternion attitude; // estimated attitude Quaternion attitude; // estimated attitude
float motors[4]; // normalized motors thrust in range [-1..1] float motors[4]; // normalized motors thrust in range [-1..1]
@ -51,8 +52,7 @@ void setup() {
} }
void loop() { void loop() {
if (!readIMU()) return; readIMU();
step(); step();
readRC(); readRC();
estimate(); estimate();

143
flix/imu.ino
View File

@ -6,87 +6,116 @@
#include <SPI.h> #include <SPI.h>
#include <MPU9250.h> #include <MPU9250.h>
#define IMU_CS_PIN 4 // chip-select pin for IMU SPI connection #define ONE_G 9.80665
#define LOAD_GYRO_CAL false
MPU9250 IMU(SPI, IMU_CS_PIN); // NOTE: use 'ca' command to calibrate the accelerometer and put the values here
Vector accBias(0, 0, 0);
Vector accScale(1, 1, 1);
MPU9250 IMU(SPI);
Vector gyroBias;
void setupIMU() { void setupIMU() {
Serial.println("Setup IMU, stand still"); Serial.println("Setup IMU");
bool status = IMU.begin();
auto status = IMU.begin(); if (!status) {
if (status < 0) {
while (true) { while (true) {
Serial.printf("IMU begin error: %d\n", status); Serial.println("IMU begin error");
delay(1000); delay(1000);
} }
} }
calibrateGyro();
}
if (LOAD_GYRO_CAL) loadGyroCal(); void configureIMU() {
loadAccelCal(); IMU.setAccelRange(IMU.ACCEL_RANGE_4G);
IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS);
IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_184HZ);
IMU.setSrd(0); // set sample rate to 1000 Hz IMU.setSrd(0); // set sample rate to 1000 Hz
// NOTE: very important, without the above the rate would be terrible 50 Hz
} }
bool readIMU() { void readIMU() {
if (IMU.readSensor() < 0) { IMU.waitForData();
Serial.println("IMU read error"); IMU.getGyro(gyro.x, gyro.y, gyro.z);
return false; IMU.getAccel(acc.x, acc.y, acc.z);
} // apply scale and bias
acc = (acc - accBias) / accScale;
auto lastRates = rates; gyro = gyro - gyroBias;
rates.x = IMU.getGyroX_rads();
rates.y = IMU.getGyroY_rads();
rates.z = IMU.getGyroZ_rads();
acc.x = IMU.getAccelX_mss();
acc.y = IMU.getAccelY_mss();
acc.z = IMU.getAccelZ_mss();
return rates != lastRates;
} }
void calibrateGyro() { void calibrateGyro() {
const int samples = 1000;
Serial.println("Calibrating gyro, stand still"); Serial.println("Calibrating gyro, stand still");
int status = IMU.calibrateGyro(); IMU.setGyroRange(IMU.GYRO_RANGE_250DPS); // the most sensitive mode
Serial.printf("Calibration status: %d\n", status);
IMU.setSrd(0); gyroBias = Vector(0, 0, 0);
for (int i = 0; i < samples; i++) {
IMU.waitForData();
IMU.getGyro(gyro.x, gyro.y, gyro.z);
gyroBias = gyroBias + gyro;
}
gyroBias = gyroBias / samples;
printIMUCal(); printIMUCal();
configureIMU();
} }
void calibrateAccel() { void calibrateAccel() {
Serial.println("Cal accel: place level"); delay(3000); Serial.println("Calibrating accelerometer");
IMU.calibrateAccel(); IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode
Serial.println("Cal accel: place nose up"); delay(3000); IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_20HZ);
IMU.calibrateAccel(); IMU.setSrd(19);
Serial.println("Cal accel: place nose down"); delay(3000);
IMU.calibrateAccel(); Serial.setTimeout(60000);
Serial.println("Cal accel: place on right side"); delay(3000); Serial.print("Place level [enter] "); Serial.readStringUntil('\n');
IMU.calibrateAccel(); calibrateAccelOnce();
Serial.println("Cal accel: place on left side"); delay(3000); Serial.print("Place nose up [enter] "); Serial.readStringUntil('\n');
IMU.calibrateAccel(); calibrateAccelOnce();
Serial.println("Cal accel: upside down"); delay(300); Serial.print("Place nose down [enter] "); Serial.readStringUntil('\n');
IMU.calibrateAccel(); calibrateAccelOnce();
Serial.print("Place on right side [enter] "); Serial.readStringUntil('\n');
calibrateAccelOnce();
Serial.print("Place on left side [enter] "); Serial.readStringUntil('\n');
calibrateAccelOnce();
Serial.print("Place upside down [enter] "); Serial.readStringUntil('\n');
calibrateAccelOnce();
printIMUCal(); printIMUCal();
configureIMU();
} }
void loadAccelCal() { void calibrateAccelOnce() {
// NOTE: this should be changed to the actual values const int samples = 100;
IMU.setAccelCalX(-0.0048542023, 1.0008112192); static Vector accMax(-INFINITY, -INFINITY, -INFINITY);
IMU.setAccelCalY(0.0521845818, 0.9985780716); static Vector accMin(INFINITY, INFINITY, INFINITY);
IMU.setAccelCalZ(0.5754694939, 1.0045746565);
}
void loadGyroCal() { // Compute the average of the accelerometer readings
// NOTE: this should be changed to the actual values acc = Vector(0, 0, 0);
IMU.setGyroBiasX_rads(-0.0185128022); for (int i = 0; i < samples; i++) {
IMU.setGyroBiasY_rads(-0.0262369743); IMU.waitForData();
IMU.setGyroBiasZ_rads(0.0163032326); Vector sample;
IMU.getAccel(sample.x, sample.y, sample.z);
acc = acc + sample;
}
acc = acc / samples;
// Update the maximum and minimum values
if (acc.x > accMax.x) accMax.x = acc.x;
if (acc.y > accMax.y) accMax.y = acc.y;
if (acc.z > accMax.z) accMax.z = acc.z;
if (acc.x < accMin.x) accMin.x = acc.x;
if (acc.y < accMin.y) accMin.y = acc.y;
if (acc.z < accMin.z) accMin.z = acc.z;
Serial.printf("acc %f %f %f\n", acc.x, acc.y, acc.z);
Serial.printf("max %f %f %f\n", accMax.x, accMax.y, accMax.z);
Serial.printf("min %f %f %f\n", accMin.x, accMin.y, accMin.z);
// Compute scale and bias
accScale = (accMax - accMin) / 2 / ONE_G;
accBias = (accMax + accMin) / 2;
} }
void printIMUCal() { void printIMUCal() {
Serial.printf("gyro bias: %f %f %f\n", IMU.getGyroBiasX_rads(), IMU.getGyroBiasY_rads(), IMU.getGyroBiasZ_rads()); Serial.printf("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
Serial.printf("accel bias: %f %f %f\n", IMU.getAccelBiasX_mss(), IMU.getAccelBiasY_mss(), IMU.getAccelBiasZ_mss()); Serial.printf("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
Serial.printf("accel scale: %f %f %f\n", IMU.getAccelScaleFactorX(), IMU.getAccelScaleFactorY(), IMU.getAccelScaleFactorZ()); Serial.printf("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
} }

1
flix/log.ino
View File

@ -44,6 +44,7 @@ void dumpLog() {
Serial.printf("t,rates.x,rates.y,rates.z,ratesTarget.x,ratesTarget.y,ratesTarget.z," Serial.printf("t,rates.x,rates.y,rates.z,ratesTarget.x,ratesTarget.y,ratesTarget.z,"
"attitude.x,attitude.y,attitude.z,attitudeTarget.x,attitudeTarget.y,attitudeTarget.z,thrustTarget\n"); "attitude.x,attitude.y,attitude.z,attitudeTarget.x,attitudeTarget.y,attitudeTarget.z,thrustTarget\n");
for (int i = 0; i < LOG_SIZE; i++) { for (int i = 0; i < LOG_SIZE; i++) {
if (logBuffer[i][0] == 0) continue; // skip empty records
for (int j = 0; j < LOG_COLUMNS - 1; j++) { for (int j = 0; j < LOG_COLUMNS - 1; j++) {
Serial.printf("%f,", logBuffer[i][j]); Serial.printf("%f,", logBuffer[i][j]);
} }

9
flix/lpf.h
View File

@ -13,8 +13,7 @@ public:
LowPassFilter(float alpha): alpha(alpha) {}; LowPassFilter(float alpha): alpha(alpha) {};
T update(const T input) T update(const T input) {
{
if (alpha == 1) { // filter disabled if (alpha == 1) { // filter disabled
return input; return input;
} }
@ -26,13 +25,11 @@ public:
return output = output * (1 - alpha) + input * alpha; return output = output * (1 - alpha) + input * alpha;
} }
void setCutOffFrequency(float cutOffFreq, float dt) void setCutOffFrequency(float cutOffFreq, float dt) {
{
alpha = 1 - exp(-2 * PI * cutOffFreq * dt); alpha = 1 - exp(-2 * PI * cutOffFreq * dt);
} }
void reset() void reset() {
{
initialized = false; initialized = false;
} }

2
flix/mavlink.ino
View File

@ -55,7 +55,7 @@ void sendMavlink() {
mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time,
acc.x * 1000, acc.y * 1000, acc.z * 1000, acc.x * 1000, acc.y * 1000, acc.z * 1000,
rates.x * 1000, rates.y * 1000, rates.z * 1000, gyro.x * 1000, gyro.y * 1000, gyro.z * 1000,
0, 0, 0, 0); 0, 0, 0, 0);
sendMessage(&msg); sendMessage(&msg);
} }

15
flix/motors.ino
View File

@ -9,16 +9,13 @@
#define MOTOR_1_PIN 13 #define MOTOR_1_PIN 13
#define MOTOR_2_PIN 14 #define MOTOR_2_PIN 14
#define MOTOR_3_PIN 15 #define MOTOR_3_PIN 15
#define PWM_FREQUENCY 200 #define PWM_FREQUENCY 200
#define PWM_RESOLUTION 8 #define PWM_RESOLUTION 8
#define PWM_NEUTRAL 1500 #define PWM_NEUTRAL 1500
#define PWM_MIN 1600
const uint16_t pwmMin[] = {1600, 1600, 1600, 1600}; #define PWM_MAX 2300
const uint16_t pwmMax[] = {2300, 2300, 2300, 2300}; #define PWM_REVERSE_MIN 1400
const uint16_t pwmReverseMin[] = {1390, 1440, 1440, 1440}; #define PWM_REVERSE_MAX 700
const uint16_t pwmReverseMax[] = {1100, 1100, 1100, 1100};
void setupMotors() { void setupMotors() {
Serial.println("Setup Motors"); Serial.println("Setup Motors");
@ -43,9 +40,9 @@ uint16_t getPWM(float val, int n) {
if (val == 0) { if (val == 0) {
return PWM_NEUTRAL; return PWM_NEUTRAL;
} else if (val > 0) { } else if (val > 0) {
return mapff(val, 0, 1, pwmMin[n], pwmMax[n]); return mapff(val, 0, 1, PWM_MIN, PWM_MAX);
} else { } else {
return mapff(val, 0, -1, pwmReverseMin[n], pwmReverseMax[n]); return mapff(val, 0, -1, PWM_REVERSE_MIN, PWM_REVERSE_MAX);
} }
} }

6
flix/pid.h
View File

@ -21,8 +21,7 @@ public:
PID(float p, float i, float d, float windup = 0, float dAlpha = 1) : p(p), i(i), d(d), windup(windup), lpf(dAlpha) {}; PID(float p, float i, float d, float windup = 0, float dAlpha = 1) : p(p), i(i), d(d), windup(windup), lpf(dAlpha) {};
float update(float error, float dt) float update(float error, float dt) {
{
integral += error * dt; integral += error * dt;
if (isfinite(prevError) && dt > 0) { if (isfinite(prevError) && dt > 0) {
@ -38,8 +37,7 @@ public:
return p * error + constrain(i * integral, -windup, windup) + d * derivative; // PID return p * error + constrain(i * integral, -windup, windup) + d * derivative; // PID
} }
void reset() void reset() {
{
prevError = NAN; prevError = NAN;
integral = 0; integral = 0;
derivative = 0; derivative = 0;

95
flix/quaternion.h
View File

@ -15,8 +15,7 @@ public:
Quaternion(float w, float x, float y, float z): w(w), x(x), y(y), z(z) {}; Quaternion(float w, float x, float y, float z): w(w), x(x), y(y), z(z) {};
static Quaternion fromAxisAngle(float a, float b, float c, float angle) static Quaternion fromAxisAngle(float a, float b, float c, float angle) {
{
float halfAngle = angle * 0.5; float halfAngle = angle * 0.5;
float sin2 = sin(halfAngle); float sin2 = sin(halfAngle);
float cos2 = cos(halfAngle); float cos2 = cos(halfAngle);
@ -24,22 +23,20 @@ public:
return Quaternion(cos2, a * sinNorm, b * sinNorm, c * sinNorm); return Quaternion(cos2, a * sinNorm, b * sinNorm, c * sinNorm);
} }
static Quaternion fromAngularRates(const Vector& rates) static Quaternion fromAngularRates(const Vector& rates) {
{
if (rates.zero()) { if (rates.zero()) {
return Quaternion(); return Quaternion();
} }
return Quaternion::fromAxisAngle(rates.x, rates.y, rates.z, rates.norm()); return Quaternion::fromAxisAngle(rates.x, rates.y, rates.z, rates.norm());
} }
static Quaternion fromEulerZYX(float x, float y, float z) static Quaternion fromEulerZYX(const Vector& euler) {
{ float cx = cos(euler.x / 2);
float cx = cos(x / 2); float cy = cos(euler.y / 2);
float cy = cos(y / 2); float cz = cos(euler.z / 2);
float cz = cos(z / 2); float sx = sin(euler.x / 2);
float sx = sin(x / 2); float sy = sin(euler.y / 2);
float sy = sin(y / 2); float sz = sin(euler.z / 2);
float sz = sin(z / 2);
return Quaternion( return Quaternion(
cx * cy * cz + sx * sy * sz, cx * cy * cz + sx * sy * sz,
@ -48,8 +45,7 @@ public:
cx * cy * sz - sx * sy * cz); cx * cy * sz - sx * sy * cz);
} }
static Quaternion fromBetweenVectors(Vector u, Vector v) static Quaternion fromBetweenVectors(Vector u, Vector v) {
{
float dot = u.x * v.x + u.y * v.y + u.z * v.z; float dot = u.x * v.x + u.y * v.y + u.z * v.z;
float w1 = u.y * v.z - u.z * v.y; float w1 = u.y * v.z - u.z * v.y;
float w2 = u.z * v.x - u.x * v.z; float w2 = u.z * v.x - u.x * v.z;
@ -64,33 +60,46 @@ public:
return ret; return ret;
} }
void toAxisAngle(float& a, float& b, float& c, float& angle) void toAxisAngle(float& a, float& b, float& c, float& angle) {
{
angle = acos(w) * 2; angle = acos(w) * 2;
a = x / sin(angle / 2); a = x / sin(angle / 2);
b = y / sin(angle / 2); b = y / sin(angle / 2);
c = z / sin(angle / 2); c = z / sin(angle / 2);
} }
Vector toEulerZYX() const Vector toEulerZYX() const {
{ // https://github.com/ros/geometry2/blob/589caf083cae9d8fae7effdb910454b4681b9ec1/tf2/include/tf2/impl/utils.h#L87
return Vector( Vector euler;
atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y)), float sqx = x * x;
asin(2 * (w * y - z * x)), float sqy = y * y;
atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z))); float sqz = z * z;
float sqw = w * w;
// Cases derived from https://orbitalstation.wordpress.com/tag/quaternion/
float sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw); /* normalization added from urdfom_headers */
if (sarg <= -0.99999) {
euler.x = 0;
euler.y = -0.5 * PI;
euler.z = -2 * atan2(y, x);
} else if (sarg >= 0.99999) {
euler.x = 0;
euler.y = 0.5 * PI;
euler.z = 2 * atan2(y, x);
} else {
euler.x = atan2(2 * (y * z + w * x), sqw - sqx - sqy + sqz);
euler.y = asin(sarg);
euler.z = atan2(2 * (x * y + w * z), sqw + sqx - sqy - sqz);
}
return euler;
} }
float getYaw() const float getYaw() const {
{
// https://github.com/ros/geometry2/blob/589caf083cae9d8fae7effdb910454b4681b9ec1/tf2/include/tf2/impl/utils.h#L122 // https://github.com/ros/geometry2/blob/589caf083cae9d8fae7effdb910454b4681b9ec1/tf2/include/tf2/impl/utils.h#L122
float yaw; float yaw;
float sqx = x * x; float sqx = x * x;
float sqy = y * y; float sqy = y * y;
float sqz = z * z; float sqz = z * z;
float sqw = w * w; float sqw = w * w;
double sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw); double sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw);
if (sarg <= -0.99999) { if (sarg <= -0.99999) {
yaw = -2 * atan2(y, x); yaw = -2 * atan2(y, x);
} else if (sarg >= 0.99999) { } else if (sarg >= 0.99999) {
@ -101,15 +110,14 @@ public:
return yaw; return yaw;
} }
void setYaw(float yaw) void setYaw(float yaw) {
{
// TODO: optimize? // TODO: optimize?
Vector euler = toEulerZYX(); Vector euler = toEulerZYX();
(*this) = Quaternion::fromEulerZYX(euler.x, euler.y, yaw); euler.z = yaw;
(*this) = Quaternion::fromEulerZYX(euler);
} }
Quaternion& operator *= (const Quaternion& q) Quaternion& operator *= (const Quaternion& q) {
{
Quaternion ret( Quaternion ret(
w * q.w - x * q.x - y * q.y - z * q.z, w * q.w - x * q.x - y * q.y - z * q.z,
w * q.x + x * q.w + y * q.z - z * q.y, w * q.x + x * q.w + y * q.z - z * q.y,
@ -118,8 +126,7 @@ public:
return (*this = ret); return (*this = ret);
} }
Quaternion operator * (const Quaternion& q) Quaternion operator * (const Quaternion& q) {
{
return Quaternion( return Quaternion(
w * q.w - x * q.x - y * q.y - z * q.z, w * q.w - x * q.x - y * q.y - z * q.z,
w * q.x + x * q.w + y * q.z - z * q.y, w * q.x + x * q.w + y * q.z - z * q.y,
@ -127,8 +134,7 @@ public:
w * q.z + z * q.w + x * q.y - y * q.x); w * q.z + z * q.w + x * q.y - y * q.x);
} }
Quaternion inversed() const Quaternion inversed() const {
{
float normSqInv = 1 / (w * w + x * x + y * y + z * z); float normSqInv = 1 / (w * w + x * x + y * y + z * z);
return Quaternion( return Quaternion(
w * normSqInv, w * normSqInv,
@ -137,13 +143,11 @@ public:
-z * normSqInv); -z * normSqInv);
} }
float norm() const float norm() const {
{
return sqrt(w * w + x * x + y * y + z * z); return sqrt(w * w + x * x + y * y + z * z);
} }
void normalize() void normalize() {
{
float n = norm(); float n = norm();
w /= n; w /= n;
x /= n; x /= n;
@ -151,27 +155,24 @@ public:
z /= n; z /= n;
} }
Vector conjugate(const Vector& v) Vector conjugate(const Vector& v) {
{
Quaternion qv(0, v.x, v.y, v.z); Quaternion qv(0, v.x, v.y, v.z);
Quaternion res = (*this) * qv * inversed(); Quaternion res = (*this) * qv * inversed();
return Vector(res.x, res.y, res.z); return Vector(res.x, res.y, res.z);
} }
Vector conjugateInversed(const Vector& v) Vector conjugateInversed(const Vector& v) {
{
Quaternion qv(0, v.x, v.y, v.z); Quaternion qv(0, v.x, v.y, v.z);
Quaternion res = inversed() * qv * (*this); Quaternion res = inversed() * qv * (*this);
return Vector(res.x, res.y, res.z); return Vector(res.x, res.y, res.z);
} }
inline Vector rotate(const Vector& v) // Rotate vector by quaternion
{ inline Vector rotate(const Vector& v) {
return conjugateInversed(v); return conjugateInversed(v);
} }
inline bool finite() const inline bool finite() const {
{
return isfinite(w) && isfinite(x) && isfinite(y) && isfinite(z); return isfinite(w) && isfinite(x) && isfinite(y) && isfinite(z);
} }

12
flix/rc.ino
View File

@ -5,9 +5,7 @@
#include <SBUS.h> #include <SBUS.h>
#define INVERT_SERIAL true // false if external SBUS invertor is used // NOTE: use 'cr' command to calibrate the RC and put the values here
// NOTE: use `cr` command and replace with the actual values
int channelNeutral[] = {995, 883, 200, 972, 512, 512}; int channelNeutral[] = {995, 883, 200, 972, 512, 512};
int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472}; int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
@ -16,14 +14,12 @@ SBUS RC(Serial2);
void setupRC() { void setupRC() {
Serial.println("Setup RC"); Serial.println("Setup RC");
RC.begin(); RC.begin();
Serial2.setRxInvert(INVERT_SERIAL);
} }
void readRC() { void readRC() {
bool failSafe, lostFrame; if (RC.read()) {
if (RC.read(channels, &failSafe, &lostFrame)) { SBUSData data = RC.data();
if (failSafe) { return; } // TODO: memcpy(channels, data.ch, sizeof(channels)); // copy channels data
if (lostFrame) { return; }
normalizeRC(); normalizeRC();
} }
} }

60
flix/vector.h
View File

@ -13,79 +13,79 @@ public:
Vector(float x, float y, float z): x(x), y(y), z(z) {}; Vector(float x, float y, float z): x(x), y(y), z(z) {};
float norm() const float norm() const {
{
return sqrt(x * x + y * y + z * z); return sqrt(x * x + y * y + z * z);
} }
bool zero() const bool zero() const {
{
return x == 0 && y == 0 && z == 0; return x == 0 && y == 0 && z == 0;
} }
void normalize() void normalize() {
{
float n = norm(); float n = norm();
x /= n; x /= n;
y /= n; y /= n;
z /= n; z /= n;
} }
Vector operator * (const float b) const Vector operator * (const float b) const {
{
return Vector(x * b, y * b, z * b); return Vector(x * b, y * b, z * b);
} }
Vector operator / (const float b) const Vector operator / (const float b) const {
{
return Vector(x / b, y / b, z / b); return Vector(x / b, y / b, z / b);
} }
Vector operator + (const Vector& b) const Vector operator + (const Vector& b) const {
{
return Vector(x + b.x, y + b.y, z + b.z); return Vector(x + b.x, y + b.y, z + b.z);
} }
Vector operator - (const Vector& b) const Vector operator - (const Vector& b) const {
{
return Vector(x - b.x, y - b.y, z - b.z); return Vector(x - b.x, y - b.y, z - b.z);
} }
inline bool operator == (const Vector& b) const // Element-wise multiplication
{ Vector operator * (const Vector& b) const {
return Vector(x * b.x, y * b.y, z * b.z);
}
// Element-wise division
Vector operator / (const Vector& b) const {
return Vector(x / b.x, y / b.y, z / b.z);
}
inline bool operator == (const Vector& b) const {
return x == b.x && y == b.y && z == b.z; return x == b.x && y == b.y && z == b.z;
} }
inline bool operator != (const Vector& b) const inline bool operator != (const Vector& b) const {
{
return !(*this == b); return !(*this == b);
} }
inline bool finite() const inline bool finite() const {
{
return isfinite(x) && isfinite(y) && isfinite(z); return isfinite(x) && isfinite(y) && isfinite(z);
} }
static float dot(const Vector& a, const Vector& b) static float dot(const Vector& a, const Vector& b) {
{
return a.x * b.x + a.y * b.y + a.z * b.z; return a.x * b.x + a.y * b.y + a.z * b.z;
} }
static Vector cross(const Vector& a, const Vector& b) static Vector cross(const Vector& a, const Vector& b) {
{
return Vector(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x); return Vector(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
} }
static float angleBetweenVectors(const Vector& a, const Vector& b) static float angleBetweenVectors(const Vector& a, const Vector& b) {
{
return acos(constrain(dot(a, b) / (a.norm() * b.norm()), -1, 1)); return acos(constrain(dot(a, b) / (a.norm() * b.norm()), -1, 1));
} }
static Vector angularRatesBetweenVectors(const Vector& u, const Vector& v) static Vector angularRatesBetweenVectors(const Vector& a, const Vector& b) {
{ Vector direction = cross(a, b);
Vector direction = cross(u, v); if (direction.zero()) {
// vectors are opposite, return any perpendicular vector
return cross(a, Vector(1, 0, 0));
}
direction.normalize(); direction.normalize();
float angle = angleBetweenVectors(u, v); float angle = angleBetweenVectors(a, b);
return direction * angle; return direction * angle;
} }

15
gazebo/SBUS.h
View File

@ -5,11 +5,20 @@
#include "joystick.h" #include "joystick.h"
struct SBUSData {
int16_t ch[16];
};
class SBUS { class SBUS {
public: public:
SBUS(HardwareSerial& bus) {}; SBUS(HardwareSerial& bus, const bool inv = true) {};
void begin() {}; void begin() {};
bool read(int16_t* channels, bool* failsafe, bool* lostFrame) { // NOTE: on the hardware channels is uint16_t bool read() { return joystickGet(); };
return joystickGet(); SBUSData data() {
SBUSData data;
for (uint8_t i = 0; i < 16; i++) {
data.ch[i] = channels[i];
}
return data;
}; };
}; };

3
gazebo/flix.h
View File

@ -23,9 +23,10 @@ float t = NAN;
float dt; float dt;
float loopFreq; float loopFreq;
float motors[4]; float motors[4];
int16_t channels[16]; // raw rc channels WARNING: unsigned on hardware int16_t channels[16]; // raw rc channels
float controls[RC_CHANNELS]; float controls[RC_CHANNELS];
Vector acc; Vector acc;
Vector gyro;
Vector rates; Vector rates;
Quaternion attitude; Quaternion attitude;

12
gazebo/joystick.h
View File

@ -8,15 +8,15 @@
#include <iostream> #include <iostream>
// simulation calibration overrides, NOTE: use `cr` command and replace with the actual values // simulation calibration overrides, NOTE: use `cr` command and replace with the actual values
const int channelNeutralOverride[] = {-258, -258, -27349, 0, 0, 1}; const int channelNeutralOverride[] = {-258, -258, -27349, 0, -27349, 0};
const int channelMaxOverride[] = {27090, 27090, 27090, 27090, 0, 1}; const int channelMaxOverride[] = {27090, 27090, 27090, 27090, -5676, 1};
#define RC_CHANNEL_ROLL 0 #define RC_CHANNEL_ROLL 0
#define RC_CHANNEL_PITCH 1 #define RC_CHANNEL_PITCH 1
#define RC_CHANNEL_THROTTLE 2 #define RC_CHANNEL_THROTTLE 2
#define RC_CHANNEL_YAW 3 #define RC_CHANNEL_YAW 3
#define RC_CHANNEL_ARMED 4 #define RC_CHANNEL_ARMED 5
#define RC_CHANNEL_MODE 5 #define RC_CHANNEL_MODE 4
SDL_Joystick *joystick; SDL_Joystick *joystick;
bool joystickInitialized = false, warnShown = false; bool joystickInitialized = false, warnShown = false;
@ -49,10 +49,8 @@ bool joystickGet() {
SDL_JoystickUpdate(); SDL_JoystickUpdate();
for (uint8_t i = 0; i < 4; i++) { for (uint8_t i = 0; i < 8; i++) {
channels[i] = SDL_JoystickGetAxis(joystick, i); channels[i] = SDL_JoystickGetAxis(joystick, i);
} }
channels[RC_CHANNEL_MODE] = SDL_JoystickGetButton(joystick, 0) ? 1 : 0;
controls[RC_CHANNEL_MODE] = channels[RC_CHANNEL_MODE];
return true; return true;
} }

10
gazebo/simulator.cpp
View File

@ -64,7 +64,7 @@ public:
step(); step();
// read imu // read imu
rates = flu2frd(imu->AngularVelocity()); gyro = flu2frd(imu->AngularVelocity());
acc = this->accFilter.update(flu2frd(imu->LinearAcceleration())); acc = this->accFilter.update(flu2frd(imu->LinearAcceleration()));
// read rc // read rc
@ -92,10 +92,10 @@ public:
const double maxThrust = 0.03 * ONE_G; // ~30 g, https://youtu.be/VtKI4Pjx8Sk?&t=78 const double maxThrust = 0.03 * ONE_G; // ~30 g, https://youtu.be/VtKI4Pjx8Sk?&t=78
const float scale0 = 1.0, scale1 = 1.1, scale2 = 0.9, scale3 = 1.05; // imitating motors asymmetry const float scale0 = 1.0, scale1 = 1.1, scale2 = 0.9, scale3 = 1.05; // imitating motors asymmetry
float mfl = scale0 * maxThrust * abs(motors[MOTOR_FRONT_LEFT]); float mfl = scale0 * maxThrust * motors[MOTOR_FRONT_LEFT];
float mfr = scale1 * maxThrust * abs(motors[MOTOR_FRONT_RIGHT]); float mfr = scale1 * maxThrust * motors[MOTOR_FRONT_RIGHT];
float mrl = scale2 * maxThrust * abs(motors[MOTOR_REAR_LEFT]); float mrl = scale2 * maxThrust * motors[MOTOR_REAR_LEFT];
float mrr = scale3 * maxThrust * abs(motors[MOTOR_REAR_RIGHT]); float mrr = scale3 * maxThrust * motors[MOTOR_REAR_RIGHT];
body->AddLinkForce(Vector3d(0.0, 0.0, mfl), Vector3d(dist, dist, 0.0)); body->AddLinkForce(Vector3d(0.0, 0.0, mfl), Vector3d(dist, dist, 0.0));
body->AddLinkForce(Vector3d(0.0, 0.0, mfr), Vector3d(dist, -dist, 0.0)); body->AddLinkForce(Vector3d(0.0, 0.0, mfr), Vector3d(dist, -dist, 0.0));

2
gazebo/wifi.h
View File

@ -25,7 +25,7 @@ void setupWiFi() {
bind(wifiSocket, (sockaddr *)&addr, sizeof(addr)); bind(wifiSocket, (sockaddr *)&addr, sizeof(addr));
int broadcast = 1; int broadcast = 1;
setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast
gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT_LOCAL << std::endl; gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT_LOCAL << " (remote port " << WIFI_UDP_PORT_REMOTE << ")" << std::endl;
} }
void sendWiFi(const uint8_t *buf, int len) { void sendWiFi(const uint8_t *buf, int len) {

11
tools/grab_log.py
View File

@ -9,8 +9,7 @@ PORT = os.environ['PORT']
DIR = os.path.dirname(os.path.realpath(__file__)) DIR = os.path.dirname(os.path.realpath(__file__))
dev = serial.Serial(port=PORT, baudrate=115200, timeout=0.5) dev = serial.Serial(port=PORT, baudrate=115200, timeout=0.5)
lines = []
log = open(f'{DIR}/log/{datetime.datetime.now().isoformat()}.csv', 'wb')
print('Downloading log...') print('Downloading log...')
count = 0 count = 0
@ -19,8 +18,14 @@ while True:
line = dev.readline() line = dev.readline()
if not line: if not line:
break break
log.write(line) lines.append(line)
count += 1 count += 1
print(f'\r{count} lines', end='') print(f'\r{count} lines', end='')
# sort by timestamp
header = lines.pop(0)
lines.sort(key=lambda line: float(line.split(b',')[0]))
log = open(f'{DIR}/log/{datetime.datetime.now().isoformat()}.csv', 'wb')
log.writelines([header] + lines)
print(f'\nWritten {os.path.relpath(log.name, os.curdir)}') print(f'\nWritten {os.path.relpath(log.name, os.curdir)}')

2
tools/requirements.txt Normal file
View File

@ -0,0 +1,2 @@
docopt
matplotlib