ed4e2d87d1
Fix imu command output
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Gyro field contained filtered gyro instead of scaled only gyro.
2026-04-23 07:12:25 +03:00
7ad3022798
Add parameter for configuring gyro bias lpf
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+ reset the filter on `reset` command
2026-01-24 09:31:32 +03:00
c8e5e08b03
Move all global variable declarations to the appropriate subsystems
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As it makes the subsystems code easier to understand.
Declare the most used variables in main sketch file as forward declarations.
Make all control input zero by default (except controlMode).
Minor changes.
2026-01-03 13:28:18 +03:00
d6e8be0c05
Add parameters for easier IMU orientation definition
2025-12-26 21:14:15 +03:00
c02dba6812
Rename gyroCalibrationFilter to gyroBiasFilter
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Which seems a better name
2025-12-24 05:36:43 +03:00
dc9aed113b
Minor code fixes
2025-10-21 19:41:05 +03:00
186cf88d84
Add generic Delay filter
2025-10-19 20:46:11 +03:00
253aae2220
Lowercase imu and rc variables
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To make it more obvious these are variables, not classes.
2025-10-19 20:45:56 +03:00
e673b50f52
Include FlixPeriph header instead of MPU9250
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This simplifies choosing IMU model
2025-10-07 08:43:12 +03:00
5151bb9133
Ensure showing correct raw data in imu command
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Some IMUs will reset acc and gyro buffer on whoAmI() call
2025-10-07 08:43:06 +03:00
a1539157b8
Show raw values in imu command
2025-08-22 17:20:33 +03:00
6b38070e43
Rename printIMUCal to printIMUCalibration for consistency with rc
2025-07-14 12:04:02 +03:00
9c8c0e2578
Minor code updates
2025-05-15 09:22:17 +03:00
965813e8f0
Use interrupts instead of polling for main loop
2025-05-05 13:58:23 +03:00
4b938e8d89
Make accelerometer calibration more verbose
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Print the number of each calibration step
2025-05-05 00:38:08 +03:00
66a43ab246
Continuous gyro bias estimation ( #17 )
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Estimate gyro bias continuously instead of calibrating the gyro at startup.
2025-03-29 12:21:40 +03:00
3a61dca102
Simplify and improve acc calibration command output
2025-03-29 01:05:55 +03:00
3fdebf39d8
Fix mavlink disconnection in pauses in cli commands
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Implement pause function that proceeds processing mavlink.
Use temporal workaround for simulation, as micros function gives the same result on the same simulation step.
2025-02-28 19:25:41 +03:00
287a4b5a71
Fix accel calibration via mavlink console
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Add 5 s timeout as waiting for enter is not implemented for mavlink console yet
2025-02-18 13:01:44 +03:00
d60628e14d
Support MAVLink console
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Implement receiving and sending SERIAL_CONTROL message
Use global defined print function instead of Serial.printf
2025-02-18 10:33:01 +03:00
e54e0e8c48
Make all the basic functionality work without the imu
2025-02-17 19:44:18 +03:00
85172cdcc8
Make util module header instead of .ino-file
2025-01-10 06:51:14 +03:00
c8109af04f
Make ONE_G definition const and move to utils.ino
2025-01-09 11:24:40 +03:00
c2a9d36d4e
Add small delay before gyro calibration
2025-01-09 10:06:15 +03:00
e10475a5e0
Some minor cleanups and fixes
2024-12-28 23:57:44 +03:00
ae349fb73c
Implement parameters subsystem
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* Unified parameters storage.
* Store parameters in flash on the hardware.
* Store parameters in text file in simulation.
* Work with parameters in command line.
* Support parameters in MAVLink for working with parameters in QGC.
2024-12-23 13:00:02 +03:00
7533a9cbfa
Move ONE_G definition to flix.ino
2024-12-23 02:37:03 +03:00
77effa5577
Rotate IMU data to support standard axes orientation in new FlixPeriph
2024-12-11 06:17:37 +03:00
172b6becc6
Use new FlixPeriph library with ICM-20948 support
2024-12-04 14:41:23 +03:00
475e9a87ba
Configure IMU before calibrating the gyro which improves calibration
2024-12-04 12:25:07 +03:00
6327585754
Print accel calibration parameters in more convenient way
2024-11-04 14:37:05 +03:00
ad2c64625c
Print the IMU information in imu command
2024-10-31 10:24:00 +03:00
abcc9b96de
Use FLU as the main coordinate system instead of FRD
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Corresponding to the IMU orientation in the new version
2024-10-23 09:30:49 +03:00
fbe33eac1b
Set gyro limits to 2000 DPS by default
2024-05-24 14:46:38 +03:00
41a9a95747
Transfer gyro low pass filter to estimate.ino
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Separate raw gyro data and filtered rates to different variables
2024-04-20 14:52:01 +03:00
f782f647cb
Correctly restore IMU settings after accel calibration
2024-03-15 13:26:59 +03:00
32f29dc1a4
Use default SPI CS pin for IMU
2024-03-15 13:14:28 +03:00
2cf1c7abb3
Use FlixPeriph library for IMU, implement own IMU calibration
2024-03-15 10:38:48 +03:00
d752cce0cc
Fix accel calibration upside down wait time
2024-03-12 00:36:53 +03:00
1c9b10a674
Use default recommended chip-select pin (GPIO5) for SPI
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Update link to the schematics #3 to the most recent version
2024-02-24 15:28:41 +03:00
c22961e5ff
Don't calibrate gyro on start since MPU9250 library does that on begin
2024-01-19 05:05:49 +03:00
d2296fea76
Change C++ code style: put curly brace on the same line
2023-12-29 18:56:25 +03:00
189eac95ef
Enable gyro calibration on the start
2023-12-19 11:36:27 +03:00
fde9c1cf36
Minor changes and cleanups
2023-12-19 05:25:57 +03:00
a174d5cd7d
Headers cleanups
2023-12-19 05:06:19 +03:00
9eaa45c1d9
Consistently use defines to set parameters
2023-05-31 20:16:43 +03:00
39875cafb9
Remove non-effective statics
2023-05-31 20:12:45 +03:00
1125335b16
Cleanup, use printf
2023-05-24 11:22:59 +03:00
82276ddb92
Cleanups
2023-05-24 10:56:59 +03:00
1019d6d4bb
Code cleanups
2023-05-24 10:28:32 +03:00
Oleg Kalachev