diff --git a/.markdownlint.json b/.markdownlint.json index 753942e..f98602c 100644 --- a/.markdownlint.json +++ b/.markdownlint.json @@ -65,5 +65,6 @@ "PX4" ] }, - "MD045": false + "MD045": false, + "MD060": false } diff --git a/docs/img/imu-axes.png b/docs/img/imu-axes.png new file mode 100644 index 0000000..003f03a Binary files /dev/null and b/docs/img/imu-axes.png differ diff --git a/docs/img/imu-rot-1.png b/docs/img/imu-rot-1.png new file mode 100644 index 0000000..55981b3 Binary files /dev/null and b/docs/img/imu-rot-1.png differ diff --git a/docs/img/imu-rot-2.png b/docs/img/imu-rot-2.png new file mode 100644 index 0000000..91f2978 Binary files /dev/null and b/docs/img/imu-rot-2.png differ diff --git a/docs/img/imu-rot-3.png b/docs/img/imu-rot-3.png new file mode 100644 index 0000000..80165bf Binary files /dev/null and b/docs/img/imu-rot-3.png differ diff --git a/docs/img/imu-rot-4.png b/docs/img/imu-rot-4.png new file mode 100644 index 0000000..f9c4d09 Binary files /dev/null and b/docs/img/imu-rot-4.png differ diff --git a/docs/img/imu-rot-5.png b/docs/img/imu-rot-5.png new file mode 100644 index 0000000..76e71e3 Binary files /dev/null and b/docs/img/imu-rot-5.png differ diff --git a/docs/img/imu-rot-6.png b/docs/img/imu-rot-6.png new file mode 100644 index 0000000..22b4399 Binary files /dev/null and b/docs/img/imu-rot-6.png differ diff --git a/docs/img/imu-rot-7.png b/docs/img/imu-rot-7.png new file mode 100644 index 0000000..df80a7e Binary files /dev/null and b/docs/img/imu-rot-7.png differ diff --git a/docs/img/imu-rot-8.png b/docs/img/imu-rot-8.png new file mode 100644 index 0000000..f8a44ce Binary files /dev/null and b/docs/img/imu-rot-8.png differ diff --git a/docs/usage.md b/docs/usage.md index 327bbbe..17fbe2b 100644 --- a/docs/usage.md +++ b/docs/usage.md @@ -73,14 +73,6 @@ ICM20948 imu(SPI); // For ICM-20948 MPU6050 imu(Wire); // For MPU-6050 ``` -### Setup the IMU orientation - -The IMU orientation is defined in `rotateIMU` function in the `imu.ino` file. Change it so it converts the IMU axes to the drone's axes correctly. **Drone axes are X forward, Y left, Z up**: - - - -See various [IMU boards axes orientations table](https://github.com/okalachev/flixperiph/?tab=readme-ov-file#imu-axes-orientation) to help you set up the correct orientation. - ### Connect using QGroundControl QGroundControl is a ground control station software that can be used to monitor and control the drone. @@ -88,7 +80,7 @@ QGroundControl is a ground control station software that can be used to monitor 1. Install mobile or desktop version of [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html). 2. Power up the drone. 3. Connect your computer or smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`). -4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically +4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically. ### Access console @@ -104,11 +96,35 @@ To access the console using QGroundControl: 1. Connect to the drone using QGroundControl app. 2. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*. - + + > [!TIP] > Use `help` command to see the list of available commands. +### Access parameters + +The drone is configured using parameters. To access and modify them, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*: + + + +### Define IMU orientation + +Use parameters, to define the IMU board axes orientation relative to the drone's axes: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`. + +The drone has *X* axis pointing forward, *Y* axis pointing left, and *Z* axis pointing up, and the supported IMU boards have *X* axis pointing to the pins side and *Z* axis pointing up from the component side: + + + +Use the following table to set the parameters for common IMU orientations: + +|Orientation|Parameters|Orientation|Parameters| +|:-:|-|-|-| +||`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 0 ||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 0| +||`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 1.571||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = -1.571| +||`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 3.142||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 3.142| +|
☑️ **Default**|
`IMU_ROT_ROLL` = 0
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = -1.571||`IMU_ROT_ROLL` = 3.142
`IMU_ROT_PITCH` = 0
`IMU_ROT_YAW` = 1.571| + ### Calibrate accelerometer Before flight you need to calibrate the accelerometer: @@ -225,12 +241,6 @@ In this mode, the pilot inputs are ignored (except the mode switch, if configure If the pilot moves the control sticks, the drone will switch back to *STAB* mode. -## Adjusting parameters - -You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*. - - - ## Flight log After the flight, you can download the flight log for analysis wirelessly. Use the following for that: diff --git a/flix/imu.ino b/flix/imu.ino index 67b26eb..7c482f1 100644 --- a/flix/imu.ino +++ b/flix/imu.ino @@ -10,6 +10,7 @@ #include "util.h" MPU9250 imu(SPI); +Vector imuRotation(0, 0, -PI / 2); // imu orientation as Euler angles Vector accBias; Vector accScale(1, 1, 1); @@ -37,16 +38,10 @@ void readIMU() { // apply scale and bias acc = (acc - accBias) / accScale; gyro = gyro - gyroBias; - // rotate - rotateIMU(acc); - rotateIMU(gyro); -} - -void rotateIMU(Vector& data) { - // Rotate from LFD to FLU - // NOTE: In case of using other IMU orientation, change this line: - data = Vector(data.y, data.x, -data.z); - // Axes orientation for various boards: https://github.com/okalachev/flixperiph#imu-axes-orientation + // rotate to body frame + Quaternion rotation = Quaternion::fromEuler(imuRotation); + acc = Quaternion::rotateVector(acc, rotation.inversed()); + gyro = Quaternion::rotateVector(gyro, rotation.inversed()); } void calibrateGyroOnce() { diff --git a/flix/parameters.ino b/flix/parameters.ino index 0738f12..3d7bfdd 100644 --- a/flix/parameters.ino +++ b/flix/parameters.ino @@ -43,6 +43,9 @@ Parameter parameters[] = { {"CTL_Y_RATE_MAX", &maxRate.z}, {"CTL_TILT_MAX", &tiltMax}, // imu + {"IMU_ROT_ROLL", &imuRotation.x}, + {"IMU_ROT_PITCH", &imuRotation.y}, + {"IMU_ROT_YAW", &imuRotation.z}, {"IMU_ACC_BIAS_X", &accBias.x}, {"IMU_ACC_BIAS_Y", &accBias.y}, {"IMU_ACC_BIAS_Z", &accBias.z}, diff --git a/gazebo/flix.h b/gazebo/flix.h index be6c750..e7d3a2c 100644 --- a/gazebo/flix.h +++ b/gazebo/flix.h @@ -22,6 +22,7 @@ Vector gyro; Vector rates; Quaternion attitude; bool landed; +Vector imuRotation; // declarations void step();