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Merge branch 'master' into fix-macos-ci

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Oleg Kalachev 2024-12-10 06:15:23 +03:00
commit d46438baaa
15 changed files with 157 additions and 84 deletions
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42
.vscode/c_cpp_properties.json vendored
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@ -5,18 +5,18 @@
"includePath": [ "includePath": [
"${workspaceFolder}/flix", "${workspaceFolder}/flix",
"${workspaceFolder}/gazebo", "${workspaceFolder}/gazebo",
"~/.arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32", "~/.arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
"~/.arduino15/packages/esp32/hardware/esp32/3.0.5/libraries/**", "~/.arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
"~/.arduino15/packages/esp32/hardware/esp32/3.0.5/variants/d1_mini32", "~/.arduino15/packages/esp32/hardware/esp32/3.0.7/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_v5.1-632e0c2a/esp32/**",
"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-33fbade6/esp32/dio_qspi/include", "~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
"~/Arduino/libraries/**", "~/Arduino/libraries/**",
"/usr/include/**" "/usr/include/**"
], ],
"forcedInclude": [ "forcedInclude": [
"${workspaceFolder}/.vscode/intellisense.h", "${workspaceFolder}/.vscode/intellisense.h",
"~/.arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32/Arduino.h", "~/.arduino15/packages/esp32/hardware/esp32/3.0.7/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/variants/d1_mini32/pins_arduino.h",
"${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/cli.ino",
"${workspaceFolder}/flix/control.ino", "${workspaceFolder}/flix/control.ino",
"${workspaceFolder}/flix/estimate.ino", "${workspaceFolder}/flix/estimate.ino",
@ -52,18 +52,18 @@
"includePath": [ "includePath": [
"${workspaceFolder}/flix", "${workspaceFolder}/flix",
"${workspaceFolder}/gazebo", "${workspaceFolder}/gazebo",
"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32", "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.5/libraries/**", "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.5/variants/d1_mini32", "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/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_v5.1-632e0c2a/esp32/include/**",
"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-33fbade6/esp32/dio_qspi/include", "~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
"~/Documents/Arduino/libraries/**", "~/Documents/Arduino/libraries/**",
"/opt/homebrew/include/**" "/opt/homebrew/include/**"
], ],
"forcedInclude": [ "forcedInclude": [
"${workspaceFolder}/.vscode/intellisense.h", "${workspaceFolder}/.vscode/intellisense.h",
"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32/Arduino.h", "~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/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/variants/d1_mini32/pins_arduino.h",
"${workspaceFolder}/flix/flix.ino", "${workspaceFolder}/flix/flix.ino",
"${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/cli.ino",
"${workspaceFolder}/flix/control.ino", "${workspaceFolder}/flix/control.ino",
@ -100,17 +100,17 @@
"includePath": [ "includePath": [
"${workspaceFolder}/flix", "${workspaceFolder}/flix",
"${workspaceFolder}/gazebo", "${workspaceFolder}/gazebo",
"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32", "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.5/libraries/**", "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.5/variants/d1_mini32", "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32",
"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-33fbade6/esp32/**", "~/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_v5.1-33fbade6/esp32/dio_qspi/include", "~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
"~/Documents/Arduino/libraries/**" "~/Documents/Arduino/libraries/**"
], ],
"forcedInclude": [ "forcedInclude": [
"${workspaceFolder}/.vscode/intellisense.h", "${workspaceFolder}/.vscode/intellisense.h",
"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.5/cores/esp32/Arduino.h", "~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/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/variants/d1_mini32/pins_arduino.h",
"${workspaceFolder}/flix/cli.ino", "${workspaceFolder}/flix/cli.ino",
"${workspaceFolder}/flix/control.ino", "${workspaceFolder}/flix/control.ino",
"${workspaceFolder}/flix/estimate.ino", "${workspaceFolder}/flix/estimate.ino",

4
Makefile
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@ -13,10 +13,10 @@ monitor:
dependencies .dependencies: 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@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 update-index
arduino-cli lib install "FlixPeriph" arduino-cli lib install "FlixPeriph"
arduino-cli lib install "MAVLink"@2.0.11 arduino-cli lib install "MAVLink"@2.0.12
touch .dependencies touch .dependencies
gazebo/build cmake: gazebo/CMakeLists.txt gazebo/build cmake: gazebo/CMakeLists.txt

30
README.md
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@ -53,7 +53,7 @@ See [instructions on running the simulation](docs/build.md).
|Type|Part|Image|Quantity| |Type|Part|Image|Quantity|
|-|-|:-:|:-:| |-|-|:-:|:-:|
|Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1| |Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
|IMU and barometer² board|GY-91 (or other MPU-9250/MPU-6500 board)|<img src="docs/img/gy-91.jpg" width=100>|1| |IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|<img src="docs/img/gy-91.jpg" width=90 align=center><img src="docs/img/icm-20948.jpg" width=100>|1|
|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="docs/img/motor.jpeg" width=100>|4| |Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="docs/img/motor.jpeg" width=100>|4|
|Propeller|Hubsan 55 mm|<img src="docs/img/prop.jpg" width=100>|4| |Propeller|Hubsan 55 mm|<img src="docs/img/prop.jpg" width=100>|4|
|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4| |MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4|
@ -62,16 +62,18 @@ See [instructions on running the simulation](docs/build.md).
|Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1| |Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1|
|Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2| |Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2|
|Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4| |Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4|
|Frame bottom part|3D printed:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<img src="docs/img/frame1.jpg" width=100>|1| |Frame bottom part|3D printed⁴:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<img src="docs/img/frame1.jpg" width=100>|1|
|Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1| |Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
|Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|1| |Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|1|
|*RC transmitter (optional)*|*KINGKONG TINY X8 or other³*|<img src="docs/img/tx.jpg" width=100>|1| |*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*|<img src="docs/img/tx.jpg" width=100>|1|
|*RC receiver (optional)*|*DF500 or other³*|<img src="docs/img/rx.jpg" width=100>|1| |*RC receiver (optional)*|*DF500 or other⁵*|<img src="docs/img/rx.jpg" width=100>|1|
|Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>|| |Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>||
|Tape, double-sided tape|||| |Tape, double-sided tape||||
*² — barometer is not used for now.*<br> *² — barometer is not used for now.*<br>
*³ — you may use any transmitter-receiver pair with SBUS interface.* *³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br>
*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
*⁵ — you may use any transmitter-receiver pair with SBUS interface.*
Tools required for assembly: Tools required for assembly:
@ -98,9 +100,9 @@ Complete diagram is Work-in-Progress.
### Notes ### Notes
* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins. * Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.
* Connect the GY-91 board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins: * Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins:
|GY-91 pin|ESP32 pin| |IMU pin|ESP32 pin|
|-|-| |-|-|
|GND|GND| |GND|GND|
|3.3V|3.3V| |3.3V|3.3V|
@ -127,9 +129,19 @@ Complete diagram is Work-in-Progress.
|-|-| |-|-|
|GND|GND| |GND|GND|
|VIN|VC (or 3.3V depending on the receiver)| |VIN|VC (or 3.3V depending on the receiver)|
|Signal|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:
<img src="docs/img/flu.svg" width=400 alt="GY-91 axis">
In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98).
*⁷ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.*
## Version 0 ## Version 0

8
docs/build.md
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@ -9,7 +9,9 @@ cd flix
## Simulation ## 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: 1. Install Arduino CLI:
@ -104,10 +106,10 @@ cd flix
### Arduino IDE (Windows, Linux, macOS) ### Arduino IDE (Windows, Linux, macOS)
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, 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): 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. * `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). 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.
6. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using 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.

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13
docs/troubleshooting.md
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@ -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 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. * **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. * **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: * **Check the motors**. Perform the following commands using Serial Monitor:
* `mfr` — should rotate front right motor (counter-clockwise). * `mfr` — should rotate front right motor (counter-clockwise).
* `mfl` — should rotate front left motor (clockwise). * `mfl` — should rotate front left motor (clockwise).
@ -21,11 +28,5 @@ Do the following:
* `mrr` — should rotate rear right motor (clockwise). * `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. * **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. * **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 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. * **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.

12
flix/cli.ino
View File

@ -30,8 +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" "mfr, mfl, mrr, mrl - test motor\n"
"fullmot <n> - full motor test\n"
"reset - reset drone's state\n"; "reset - reset drone's state\n";
const struct Param { const struct Param {
@ -54,7 +53,7 @@ const struct Param {
{"lpr", &ratesFilter.alpha, nullptr}, {"lpr", &ratesFilter.alpha, nullptr},
{"lpd", &rollRatePID.lpf.alpha, &pitchRatePID.lpf.alpha}, {"lpd", &rollRatePID.lpf.alpha, &pitchRatePID.lpf.alpha},
{"ss", &loopFreq, nullptr}, {"ss", &loopRate, nullptr},
{"dt", &dt, nullptr}, {"dt", &dt, nullptr},
{"t", &t, 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("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); Serial.printf("rate: %f\n", loopRate);
} 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],
@ -102,8 +101,6 @@ void doCommand(String& command, String& value) {
cliTestMotor(MOTOR_REAR_RIGHT); cliTestMotor(MOTOR_REAR_RIGHT);
} else if (command == "mrl") { } else if (command == "mrl") {
cliTestMotor(MOTOR_REAR_LEFT); cliTestMotor(MOTOR_REAR_LEFT);
} else if (command == "fullmot") {
fullMotorTest(value.toInt());
} else if (command == "reset") { } else if (command == "reset") {
attitude = Quaternion(); attitude = Quaternion();
} else { } else {
@ -135,8 +132,9 @@ void showTable() {
void cliTestMotor(uint8_t n) { void cliTestMotor(uint8_t n) {
Serial.printf("Testing motor %d\n", n); Serial.printf("Testing motor %d\n", n);
motors[n] = 1; 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(); sendMotors();
delay(5000); delay(3000);
motors[n] = 0; motors[n] = 0;
sendMotors(); sendMotors();
Serial.println("Done"); Serial.println("Done");

2
flix/flix.ino
View File

@ -25,7 +25,7 @@
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 loopRate; // loop rate, Hz
int16_t channels[RC_CHANNELS]; // raw rc channels int16_t channels[RC_CHANNELS]; // 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)
float controlsTime; // time of the last controls update float controlsTime; // time of the last controls update

11
flix/imu.ino
View File

@ -27,14 +27,15 @@ void setupIMU() {
delay(1000); delay(1000);
} }
} }
configureIMU();
calibrateGyro(); calibrateGyro();
} }
void configureIMU() { void configureIMU() {
IMU.setAccelRange(IMU.ACCEL_RANGE_4G); IMU.setAccelRange(IMU.ACCEL_RANGE_4G);
IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS); IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS);
IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_184HZ); IMU.setDLPF(IMU.DLPF_MAX);
IMU.setSrd(0); // set sample rate to 1000 Hz IMU.setRate(IMU.RATE_1KHZ_APPROX);
} }
void readIMU() { void readIMU() {
@ -66,8 +67,6 @@ void calibrateGyro() {
void calibrateAccel() { void calibrateAccel() {
Serial.println("Calibrating accelerometer"); Serial.println("Calibrating accelerometer");
IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode
IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_20HZ);
IMU.setSrd(19);
Serial.setTimeout(60000); Serial.setTimeout(60000);
Serial.print("Place level [enter] "); Serial.readStringUntil('\n'); Serial.print("Place level [enter] "); Serial.readStringUntil('\n');
@ -88,7 +87,7 @@ void calibrateAccel() {
} }
void calibrateAccelOnce() { void calibrateAccelOnce() {
const int samples = 100; const int samples = 1000;
static Vector accMax(-INFINITY, -INFINITY, -INFINITY); static Vector accMax(-INFINITY, -INFINITY, -INFINITY);
static Vector accMin(INFINITY, INFINITY, INFINITY); static Vector accMin(INFINITY, INFINITY, INFINITY);
@ -124,6 +123,6 @@ void printIMUCal() {
} }
void printIMUInfo() { 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()); Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
} }

11
flix/motors.ino
View File

@ -37,14 +37,3 @@ void sendMotors() {
ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2])); ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2]));
ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3])); 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));
}

2
flix/rc.ino
View File

@ -9,7 +9,7 @@
int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; 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}; 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() { void setupRC() {
Serial.println("Setup RC"); Serial.println("Setup RC");

12
flix/time.ino
View File

@ -12,16 +12,16 @@ void step() {
dt = 0; // assume dt to be zero on first step and on reset dt = 0; // assume dt to be zero on first step and on reset
} }
computeLoopFreq(); computeLoopRate();
} }
void computeLoopFreq() { void computeLoopRate() {
static float windowStart = 0; static float windowStart = 0;
static uint32_t freq = 0; static uint32_t rate = 0;
freq++; rate++;
if (t - windowStart >= 1) { // 1 second window if (t - windowStart >= 1) { // 1 second window
loopFreq = freq; loopRate = rate;
windowStart = t; windowStart = t;
freq = 0; rate = 0;
} }
} }

8
flix/util.ino
View File

@ -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; 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) // Wrap angle to [-PI, PI)
float wrapAngle(float angle) { float wrapAngle(float angle) {
angle = fmodf(angle, 2 * PI); angle = fmodf(angle, 2 * PI);

5
gazebo/flix.h
View File

@ -21,7 +21,7 @@
float t = NAN; float t = NAN;
float dt; float dt;
float loopFreq; float loopRate;
float motors[4]; float motors[4];
int16_t channels[16]; // raw rc channels int16_t channels[16]; // raw rc channels
float controls[RC_CHANNELS]; float controls[RC_CHANNELS];
@ -32,7 +32,7 @@ Vector rates;
Quaternion attitude; Quaternion attitude;
// declarations // declarations
void computeLoopFreq(); void computeLoopRate();
void applyGyro(); void applyGyro();
void applyAcc(); void applyAcc();
void control(); void control();
@ -57,7 +57,6 @@ inline Quaternion FLU2FRD(const Quaternion &q);
void setLED(bool on) {}; void setLED(bool on) {};
void calibrateGyro() { printf("Skip gyro calibrating\n"); }; void calibrateGyro() { printf("Skip gyro calibrating\n"); };
void calibrateAccel() { printf("Skip accel calibrating\n"); }; void calibrateAccel() { printf("Skip accel calibrating\n"); };
void fullMotorTest(int n) { printf("Skip full motor test\n"); };
void sendMotors() {}; void sendMotors() {};
void printIMUCal() { printf("cal: N/A\n"); }; void printIMUCal() { printf("cal: N/A\n"); };
void printIMUInfo() {}; void printIMUInfo() {};