Oleg Kalachev
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6e140d673c
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Cleanup unused utility functions
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2024-12-05 08:29:21 +03:00 |
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Oleg Kalachev
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172b6becc6
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Use new FlixPeriph library with ICM-20948 support
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2024-12-04 14:41:23 +03:00 |
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Oleg Kalachev
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475e9a87ba
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Configure IMU before calibrating the gyro which improves calibration
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2024-12-04 12:25:07 +03:00 |
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Oleg Kalachev
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ea141f851f
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Use 'loop rate' term instead of misleading 'loop frequency'
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2024-12-04 07:00:00 +03:00 |
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Oleg Kalachev
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048a3c6375
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Use the new UART2 pins for RC by default
To make it consistent with the documentation
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2024-11-27 23:02:20 +03:00 |
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Oleg Kalachev
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a7b69f99d0
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Fix non-working motor control commands
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2024-11-24 00:17:47 +03:00 |
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Oleg Kalachev
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b015c15a7e
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Remove non-working fullmot command
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2024-11-24 00:10:37 +03:00 |
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Oleg Kalachev
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eca48c6546
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Minor fix
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2024-11-04 16:28:54 +03:00 |
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Oleg Kalachev
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cd5f6721dc
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Updates to LED control code
Don't call digitaWrite on each setLED call
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2024-11-04 16:28:43 +03:00 |
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Oleg Kalachev
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6327585754
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Print accel calibration parameters in more convenient way
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2024-11-04 14:37:05 +03:00 |
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Oleg Kalachev
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ec832d4e37
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Implement RC fail-safe
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2024-11-04 11:51:17 +03:00 |
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Oleg Kalachev
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2fdad7bdb6
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Remove LED horizontality signalization
It's better to control the attitude estimation using QGC
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2024-11-03 17:41:13 +03:00 |
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Oleg Kalachev
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ad2c64625c
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Print the IMU information in imu command
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2024-10-31 10:24:00 +03:00 |
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Oleg Kalachev
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abcc9b96de
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Use FLU as the main coordinate system instead of FRD
Corresponding to the IMU orientation in the new version
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2024-10-23 09:30:49 +03:00 |
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Oleg Kalachev
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f46460e53d
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Make RC_CHANNELS=16 corresponding the number of SBUS channels
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2024-10-23 09:28:09 +03:00 |
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Oleg Kalachev
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23f3295439
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Remove ESC support and add MOSFET support in motors code
The new version uses MOSFETs
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2024-10-23 09:27:54 +03:00 |
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Oleg Kalachev
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b0b6eb9a97
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Minor code cleanups and clarifications
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2024-10-23 09:25:39 +03:00 |
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Oleg Kalachev
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84a329cca7
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More clean yaw error calculation
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2024-10-23 09:25:07 +03:00 |
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Oleg Kalachev
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5613028678
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Enable Wi-Fi by default
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2024-10-23 09:24:58 +03:00 |
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Oleg Kalachev
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bed5d79db8
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Add comments to motor pins
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2024-07-30 07:49:21 +03:00 |
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Oleg Kalachev
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e993dde355
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Update ESP32 Arduino Core to v3.0.3
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2024-07-25 02:45:59 +03:00 |
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Oleg Kalachev
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fbe33eac1b
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Set gyro limits to 2000 DPS by default
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2024-05-24 14:46:38 +03:00 |
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Oleg Kalachev
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7cfcf5b63b
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Use more natural torqueTarget order in mixer (xyz)
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2024-05-21 10:52:39 +03:00 |
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Oleg Kalachev
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94d24cbd28
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Fix PWM values for reverse rotations
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2024-05-21 10:51:45 +03:00 |
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Oleg Kalachev
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be3d2be9d3
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Fix Vector::angularRatesBetweenVectors return NaNs on opposite vectors
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2024-05-21 10:50:47 +03:00 |
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Oleg Kalachev
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ad6bc02643
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Minor fixes and changes
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2024-05-21 10:49:57 +03:00 |
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Oleg Kalachev
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41a9a95747
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Transfer gyro low pass filter to estimate.ino
Separate raw gyro data and filtered rates to different variables
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2024-04-20 14:52:01 +03:00 |
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Oleg Kalachev
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24e8569905
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Make Vector methods arguments more consistent
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2024-04-20 10:57:32 +03:00 |
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Oleg Kalachev
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d095b81d7e
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Print out loop frequency on imu command
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2024-04-02 22:28:02 +03:00 |
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Oleg Kalachev
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28a6bf2230
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Add info about motors testing commands to intro message
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2024-03-30 18:23:42 +03:00 |
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Oleg Kalachev
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646fa46f6b
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Use FlixPeriph library for SBUS
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2024-03-17 02:29:37 +03:00 |
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Oleg Kalachev
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f782f647cb
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Correctly restore IMU settings after accel calibration
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2024-03-15 13:26:59 +03:00 |
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Oleg Kalachev
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32f29dc1a4
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Use default SPI CS pin for IMU
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2024-03-15 13:14:28 +03:00 |
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Oleg Kalachev
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2cf1c7abb3
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Use FlixPeriph library for IMU, implement own IMU calibration
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2024-03-15 10:38:48 +03:00 |
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Oleg Kalachev
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d752cce0cc
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Fix accel calibration upside down wait time
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2024-03-12 00:36:53 +03:00 |
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Oleg Kalachev
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34a81536c2
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Fix reverse motors pwm
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2024-03-02 15:37:38 +03:00 |
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Oleg Kalachev
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1c9b10a674
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Use default recommended chip-select pin (GPIO5) for SPI
Update link to the schematics #3 to the most recent version
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2024-02-24 15:28:41 +03:00 |
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Oleg Kalachev
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ab2f99ab59
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Simplify making user modes for control, add USER mode
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2024-02-22 03:09:12 +03:00 |
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Oleg Kalachev
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5ec6b5e665
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Make fromEulerZYX accept Vector instead of x, y, z
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2024-02-20 04:51:59 +03:00 |
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Oleg Kalachev
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85182ac2b8
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Use more correct implementation of toEulerZYX fixing some yaw issues
We actually need to use Tait–Bryan Z-Y-X angles, not classic Euler's
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2024-02-20 04:47:13 +03:00 |
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Oleg Kalachev
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455729fdb4
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Improve log download: remove empty records, sort by timestamp
To make Plotjuggler not to warn about unsorted records everytime
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2024-02-18 01:23:33 +03:00 |
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Oleg Kalachev
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33319db1fa
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Make rates LPF cut-off frequency equal to 40 Hz
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2024-02-07 10:49:31 +03:00 |
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Oleg Kalachev
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ba6e63b50b
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Correctly set output parameters of simulated SBUS::read, minor name fix
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2024-02-06 21:02:20 +03:00 |
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Oleg Kalachev
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410fccf015
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Fix vector, quaternion, pid and lpf libraries curly braces code style
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2024-02-06 13:50:56 +03:00 |
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Oleg Kalachev
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31d382dd86
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Simplify motors pwm calculation using unified value for all motors
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2024-02-06 10:49:48 +03:00 |
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Oleg Kalachev
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0661aecccf
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Remove unneeded INVERT_SERIAL define
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2024-02-04 14:42:57 +03:00 |
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Oleg Kalachev
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2694f68b87
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Add yaw dead zone in mavlink control
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2024-01-31 12:05:49 +03:00 |
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Oleg Kalachev
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033e74a375
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Minor code cleanups
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2024-01-31 12:05:25 +03:00 |
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Oleg Kalachev
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a24f039f1d
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Fix RC_CHANNELS_SCALED inactive channel values
They should be INT16_MAX not UINT16_MAX
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2024-01-31 12:04:44 +03:00 |
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Oleg Kalachev
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69cfc9e5fa
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Utilize internal ESP32 UART invertor for SBUS
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2024-01-26 13:46:13 +03:00 |
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