diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 0b17403..cadd43e 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -5,18 +5,18 @@
"includePath": [
"${workspaceFolder}/flix",
"${workspaceFolder}/gazebo",
- "~/.arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32",
- "~/.arduino15/packages/esp32/hardware/esp32/3.0.5/libraries/**",
- "~/.arduino15/packages/esp32/hardware/esp32/3.0.5/variants/d1_mini32",
- "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-33fbade6/esp32/**",
- "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-33fbade6/esp32/dio_qspi/include",
+ "~/.arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
+ "~/.arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
+ "~/.arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
+ "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/**",
+ "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
"~/Arduino/libraries/**",
"/usr/include/**"
],
"forcedInclude": [
"${workspaceFolder}/.vscode/intellisense.h",
- "~/.arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32/Arduino.h",
- "~/.arduino15/packages/esp32/hardware/esp32/3.0.5/variants/d1_mini32/pins_arduino.h",
+ "~/.arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
+ "~/.arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
"${workspaceFolder}/flix/cli.ino",
"${workspaceFolder}/flix/control.ino",
"${workspaceFolder}/flix/estimate.ino",
@@ -52,18 +52,18 @@
"includePath": [
"${workspaceFolder}/flix",
"${workspaceFolder}/gazebo",
- "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32",
- "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.5/libraries/**",
- "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.5/variants/d1_mini32",
- "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-33fbade6/esp32/include/**",
- "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-33fbade6/esp32/dio_qspi/include",
+ "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
+ "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
+ "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
+ "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/include/**",
+ "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
"~/Documents/Arduino/libraries/**",
"/opt/homebrew/include/**"
],
"forcedInclude": [
"${workspaceFolder}/.vscode/intellisense.h",
- "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32/Arduino.h",
- "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.5/variants/d1_mini32/pins_arduino.h",
+ "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
+ "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
"${workspaceFolder}/flix/flix.ino",
"${workspaceFolder}/flix/cli.ino",
"${workspaceFolder}/flix/control.ino",
@@ -100,17 +100,17 @@
"includePath": [
"${workspaceFolder}/flix",
"${workspaceFolder}/gazebo",
- "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32",
- "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.5/libraries/**",
- "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.5/variants/d1_mini32",
- "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-33fbade6/esp32/**",
- "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-33fbade6/esp32/dio_qspi/include",
+ "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
+ "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
+ "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
+ "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/**",
+ "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
"~/Documents/Arduino/libraries/**"
],
"forcedInclude": [
"${workspaceFolder}/.vscode/intellisense.h",
- "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32/Arduino.h",
- "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.5/variants/d1_mini32/pins_arduino.h",
+ "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
+ "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
"${workspaceFolder}/flix/cli.ino",
"${workspaceFolder}/flix/control.ino",
"${workspaceFolder}/flix/estimate.ino",
diff --git a/Makefile b/Makefile
index 5a6fa86..0da2e4f 100644
--- a/Makefile
+++ b/Makefile
@@ -13,10 +13,10 @@ monitor:
dependencies .dependencies:
arduino-cli core update-index --config-file arduino-cli.yaml
- arduino-cli core install esp32:esp32@3.0.5 --config-file arduino-cli.yaml
+ arduino-cli core install esp32:esp32@3.0.7 --config-file arduino-cli.yaml
arduino-cli lib update-index
arduino-cli lib install "FlixPeriph"
- arduino-cli lib install "MAVLink"@2.0.11
+ arduino-cli lib install "MAVLink"@2.0.12
touch .dependencies
gazebo/build cmake: gazebo/CMakeLists.txt
diff --git a/README.md b/README.md
index 79ad9d0..f30d670 100644
--- a/README.md
+++ b/README.md
@@ -53,7 +53,7 @@ See [instructions on running the simulation](docs/build.md).
|Type|Part|Image|Quantity|
|-|-|:-:|:-:|
|Microcontroller board|ESP32 Mini||1|
-|IMU and barometer² board|GY-91 (or other MPU-9250/MPU-6500 board)||1|
+|IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³||1|
|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)||4|
|Propeller|Hubsan 55 mm||4|
|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)||4|
@@ -62,16 +62,18 @@ See [instructions on running the simulation](docs/build.md).
|Li-Po Battery charger|Any||1|
|Screws for IMU board mounting|M3x5||2|
|Screws for frame assembly|M1.4x5||4|
-|Frame bottom part|3D printed: [`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)||1|
+|Frame bottom part|3D printed⁴: [`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)||1|
|Frame top part|3D printed: [`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)||1|
|Washer for IMU board mounting|3D printed: [`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)||1|
-|*RC transmitter (optional)*|*KINGKONG TINY X8 or other³*||1|
-|*RC receiver (optional)*|*DF500 or other³*||1|
+|*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*||1|
+|*RC receiver (optional)*|*DF500 or other⁵*||1|
|Wires|28 AWG recommended|||
|Tape, double-sided tape||||
*² — barometer is not used for now.*
-*³ — you may use any transmitter-receiver pair with SBUS interface.*
+*³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*
+*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*
+*⁵ — you may use any transmitter-receiver pair with SBUS interface.*
Tools required for assembly:
@@ -98,9 +100,9 @@ Complete diagram is Work-in-Progress.
### Notes
* 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|
|3.3V|3.3V|
@@ -127,9 +129,19 @@ Complete diagram is Work-in-Progress.
|-|-|
|GND|GND|
|VIN|VC (or 3.3V depending on the receiver)|
- |Signal|GPIO4⁴|
+ |Signal|GPIO4⁶|
-*⁴ — 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
+
+Required IMU orientation on the drone is **FLU** (Forward, Left, Up)⁷:
+
+
+
+In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98).
+
+*⁷ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.*
## Version 0
diff --git a/docs/build.md b/docs/build.md
index 924beb2..e3a4f9c 100644
--- a/docs/build.md
+++ b/docs/build.md
@@ -9,7 +9,9 @@ cd flix
## Simulation
-### Ubuntu
+### Ubuntu 20.04
+
+The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you have a newer version, consider using a virtual machine.
1. Install Arduino CLI:
@@ -104,10 +106,10 @@ cd flix
### Arduino IDE (Windows, Linux, macOS)
1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
-2. Install ESP32 core, version 3.0.5 (version 2.x is not supported). See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
+2. Install ESP32 core, version 3.0.7 (version 2.x is not supported). 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.
3. 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 2.0.11.
+ * `MAVLink`, version 2.0.12.
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.
6. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
diff --git a/docs/img/flu.svg b/docs/img/flu.svg
new file mode 100644
index 0000000..2ff7d41
--- /dev/null
+++ b/docs/img/flu.svg
@@ -0,0 +1,81 @@
+
diff --git a/docs/img/icm-20948.jpg b/docs/img/icm-20948.jpg
new file mode 100644
index 0000000..5e6af23
Binary files /dev/null and b/docs/img/icm-20948.jpg differ
diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md
index 25f130c..106bcd5 100644
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -13,7 +13,14 @@ Do the following:
* **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V.
* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output.
+* **Make sure correct IMU model is chosen**. If using ICM-20948 board, change `MPU9250` to `ICM20948` everywhere in the `imu.ino` file.
* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands.
+* **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+* **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while.
+* **Check the IMU sample rate**. Perform `imu` command. The `rate` field should be about 1000 (Hz).
+* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
+* **Calibrate the accelerometer.** if is wasn't done before. Perform `ca` command and put the results to `imu.ino` file.
+* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct.
* **Check the motors**. Perform the following commands using Serial Monitor:
* `mfr` — should rotate front right motor (counter-clockwise).
* `mfl` — should rotate front left motor (clockwise).
@@ -21,11 +28,5 @@ Do the following:
* `mrr` — should rotate rear right motor (clockwise).
* **Calibrate the RC** if you use it. Perform `rc` command and put the results to `rc.ino` file.
* **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
-* **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
-* **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while.
-* **Check the IMU frequency**. Perform `imu` command. The `frequency` field should be about 1000 (Hz).
-* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
-* **Calibrate the accelerometer.** if is wasn't done before. Perform `ca` command and put the results to `imu.ino` file.
-* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct.
* **Check the IMU output using QGroundControl**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement.
* **Check the gyroscope only attitude estimation**. Comment out `applyAcc();` line in `estimate.ino` and check if the attitude estimation in QGroundControl. It should be stable, but only drift very slowly.
diff --git a/flix/cli.ino b/flix/cli.ino
index f414967..824d8b3 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -30,8 +30,7 @@ const char* motd =
"cr - calibrate RC\n"
"cg - calibrate gyro\n"
"ca - calibrate accel\n"
-"mfr, mfl, mrr, mrl - test appropriate motor\n"
-"fullmot - full motor test\n"
+"mfr, mfl, mrr, mrl - test motor\n"
"reset - reset drone's state\n";
const struct Param {
@@ -54,7 +53,7 @@ const struct Param {
{"lpr", &ratesFilter.alpha, nullptr},
{"lpd", &rollRatePID.lpf.alpha, &pitchRatePID.lpf.alpha},
- {"ss", &loopFreq, nullptr},
+ {"ss", &loopRate, nullptr},
{"dt", &dt, nullptr},
{"t", &t, nullptr},
};
@@ -74,7 +73,7 @@ void doCommand(String& command, String& value) {
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);
printIMUCal();
- Serial.printf("frequency: %f\n", loopFreq);
+ Serial.printf("rate: %f\n", loopRate);
} else if (command == "rc") {
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],
@@ -102,8 +101,6 @@ void doCommand(String& command, String& value) {
cliTestMotor(MOTOR_REAR_RIGHT);
} else if (command == "mrl") {
cliTestMotor(MOTOR_REAR_LEFT);
- } else if (command == "fullmot") {
- fullMotorTest(value.toInt());
} else if (command == "reset") {
attitude = Quaternion();
} else {
@@ -135,8 +132,9 @@ void showTable() {
void cliTestMotor(uint8_t n) {
Serial.printf("Testing motor %d\n", n);
motors[n] = 1;
+ delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
sendMotors();
- delay(5000);
+ delay(3000);
motors[n] = 0;
sendMotors();
Serial.println("Done");
diff --git a/flix/flix.ino b/flix/flix.ino
index 8183e55..dea10d9 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -25,7 +25,7 @@
float t = NAN; // current step time, s
float dt; // time delta from previous step, s
-float loopFreq; // loop frequency, Hz
+float loopRate; // loop rate, Hz
int16_t channels[RC_CHANNELS]; // raw rc channels
float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
float controlsTime; // time of the last controls update
diff --git a/flix/imu.ino b/flix/imu.ino
index 4fb4c34..9f29767 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -27,14 +27,15 @@ void setupIMU() {
delay(1000);
}
}
+ configureIMU();
calibrateGyro();
}
void configureIMU() {
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.setDLPF(IMU.DLPF_MAX);
+ IMU.setRate(IMU.RATE_1KHZ_APPROX);
}
void readIMU() {
@@ -66,8 +67,6 @@ void calibrateGyro() {
void calibrateAccel() {
Serial.println("Calibrating accelerometer");
IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode
- IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_20HZ);
- IMU.setSrd(19);
Serial.setTimeout(60000);
Serial.print("Place level [enter] "); Serial.readStringUntil('\n');
@@ -88,7 +87,7 @@ void calibrateAccel() {
}
void calibrateAccelOnce() {
- const int samples = 100;
+ const int samples = 1000;
static Vector accMax(-INFINITY, -INFINITY, -INFINITY);
static Vector accMin(INFINITY, INFINITY, INFINITY);
@@ -124,6 +123,6 @@ void printIMUCal() {
}
void printIMUInfo() {
- Serial.printf("type: %s\n", IMU.getType());
+ Serial.printf("model: %s\n", IMU.getModel());
Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
}
diff --git a/flix/motors.ino b/flix/motors.ino
index d2d14bd..0c17cd1 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -37,14 +37,3 @@ void sendMotors() {
ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2]));
ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3]));
}
-
-void fullMotorTest(int n) {
- printf("Full test for motor %d\n", n);
- for (float signal = 0; signal <= 1; signal += 0.1) {
- printf("Motor %d: %f\n", n, signal);
- ledcWrite(n, signalToDutyCycle(signal));
- delay(3000);
- }
- printf("Motor %d: %f\n", n, 0);
- ledcWrite(n, signalToDutyCycle(0));
-}
diff --git a/flix/rc.ino b/flix/rc.ino
index adc723a..7af6e25 100644
--- a/flix/rc.ino
+++ b/flix/rc.ino
@@ -9,7 +9,7 @@
int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-SBUS RC(Serial2, 16, 17); // NOTE: remove pin numbers (16, 17) if you use the new default pins for Serial2 (4, 25)
+SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
void setupRC() {
Serial.println("Setup RC");
diff --git a/flix/time.ino b/flix/time.ino
index 4632bfb..da9f1c8 100644
--- a/flix/time.ino
+++ b/flix/time.ino
@@ -12,16 +12,16 @@ void step() {
dt = 0; // assume dt to be zero on first step and on reset
}
- computeLoopFreq();
+ computeLoopRate();
}
-void computeLoopFreq() {
+void computeLoopRate() {
static float windowStart = 0;
- static uint32_t freq = 0;
- freq++;
+ static uint32_t rate = 0;
+ rate++;
if (t - windowStart >= 1) { // 1 second window
- loopFreq = freq;
+ loopRate = rate;
windowStart = t;
- freq = 0;
+ rate = 0;
}
}
diff --git a/flix/util.ino b/flix/util.ino
index 3976783..b5373d1 100644
--- a/flix/util.ino
+++ b/flix/util.ino
@@ -15,14 +15,6 @@ float mapff(float x, float in_min, float in_max, float out_min, float out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
-int8_t sign(float x) {
- return (x > 0) - (x < 0);
-}
-
-float randomFloat(float min, float max) {
- return min + (max - min) * (float)rand() / RAND_MAX;
-}
-
// Wrap angle to [-PI, PI)
float wrapAngle(float angle) {
angle = fmodf(angle, 2 * PI);
diff --git a/gazebo/flix.h b/gazebo/flix.h
index bc15f94..72787f5 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -21,7 +21,7 @@
float t = NAN;
float dt;
-float loopFreq;
+float loopRate;
float motors[4];
int16_t channels[16]; // raw rc channels
float controls[RC_CHANNELS];
@@ -32,7 +32,7 @@ Vector rates;
Quaternion attitude;
// declarations
-void computeLoopFreq();
+void computeLoopRate();
void applyGyro();
void applyAcc();
void control();
@@ -57,7 +57,6 @@ inline Quaternion FLU2FRD(const Quaternion &q);
void setLED(bool on) {};
void calibrateGyro() { printf("Skip gyro calibrating\n"); };
void calibrateAccel() { printf("Skip accel calibrating\n"); };
-void fullMotorTest(int n) { printf("Skip full motor test\n"); };
void sendMotors() {};
void printIMUCal() { printf("cal: N/A\n"); };
void printIMUInfo() {};
|1|
-|IMU and barometer² board|GY-91 (or other MPU-9250/MPU-6500 board)|
|1|
+|IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|
|1|
|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|
|4|
|Propeller|Hubsan 55 mm|
|4|
|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|
|4|
@@ -62,16 +62,18 @@ See [instructions on running the simulation](docs/build.md).
|Li-Po Battery charger|Any|
|1|
|Screws for IMU board mounting|M3x5|
|2|
|Screws for frame assembly|M1.4x5|
|4|
-|Frame bottom part|3D printed:
|1|
+|Frame bottom part|3D printed⁴:
|1|
|Washer for IMU board mounting|3D printed:
|1|
-|*RC transmitter (optional)*|*KINGKONG TINY X8 or other³*|
|1|
-|*RC receiver (optional)*|*DF500 or other³*|
|1|
+|*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*|
||
|Tape, double-sided tape||||
*² — barometer is not used for now.*
+
+In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98).
+
+*⁷ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.*
## Version 0
diff --git a/docs/build.md b/docs/build.md
index 924beb2..e3a4f9c 100644
--- a/docs/build.md
+++ b/docs/build.md
@@ -9,7 +9,9 @@ cd flix
## Simulation
-### Ubuntu
+### Ubuntu 20.04
+
+The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you have a newer version, consider using a virtual machine.
1. Install Arduino CLI:
@@ -104,10 +106,10 @@ cd flix
### Arduino IDE (Windows, Linux, macOS)
1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
-2. Install ESP32 core, version 3.0.5 (version 2.x is not supported). See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
+2. Install ESP32 core, version 3.0.7 (version 2.x is not supported). 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.
3. 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 2.0.11.
+ * `MAVLink`, version 2.0.12.
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.
6. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
diff --git a/docs/img/flu.svg b/docs/img/flu.svg
new file mode 100644
index 0000000..2ff7d41
--- /dev/null
+++ b/docs/img/flu.svg
@@ -0,0 +1,81 @@
+
diff --git a/docs/img/icm-20948.jpg b/docs/img/icm-20948.jpg
new file mode 100644
index 0000000..5e6af23
Binary files /dev/null and b/docs/img/icm-20948.jpg differ
diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md
index 25f130c..106bcd5 100644
--- a/docs/troubleshooting.md
+++ b/docs/troubleshooting.md
@@ -13,7 +13,14 @@ Do the following:
* **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V.
* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output.
+* **Make sure correct IMU model is chosen**. If using ICM-20948 board, change `MPU9250` to `ICM20948` everywhere in the `imu.ino` file.
* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands.
+* **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+* **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while.
+* **Check the IMU sample rate**. Perform `imu` command. The `rate` field should be about 1000 (Hz).
+* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
+* **Calibrate the accelerometer.** if is wasn't done before. Perform `ca` command and put the results to `imu.ino` file.
+* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct.
* **Check the motors**. Perform the following commands using Serial Monitor:
* `mfr` — should rotate front right motor (counter-clockwise).
* `mfl` — should rotate front left motor (clockwise).
@@ -21,11 +28,5 @@ Do the following:
* `mrr` — should rotate rear right motor (clockwise).
* **Calibrate the RC** if you use it. Perform `rc` command and put the results to `rc.ino` file.
* **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
-* **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
-* **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while.
-* **Check the IMU frequency**. Perform `imu` command. The `frequency` field should be about 1000 (Hz).
-* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
-* **Calibrate the accelerometer.** if is wasn't done before. Perform `ca` command and put the results to `imu.ino` file.
-* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct.
* **Check the IMU output using QGroundControl**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement.
* **Check the gyroscope only attitude estimation**. Comment out `applyAcc();` line in `estimate.ino` and check if the attitude estimation in QGroundControl. It should be stable, but only drift very slowly.
diff --git a/flix/cli.ino b/flix/cli.ino
index f414967..824d8b3 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -30,8 +30,7 @@ const char* motd =
"cr - calibrate RC\n"
"cg - calibrate gyro\n"
"ca - calibrate accel\n"
-"mfr, mfl, mrr, mrl - test appropriate motor\n"
-"fullmot