Oleg Kalachev
3a61dca102
Simplify and improve acc calibration command output
2025-03-29 01:05:55 +03:00
Oleg Kalachev
d5148d12a1
Minor code style fix
2025-03-14 03:03:27 +03:00
Oleg Kalachev
208e50aa15
Encode if the mode in stabilized in heartbeat message
2025-03-14 03:02:43 +03:00
Oleg Kalachev
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
Oleg Kalachev
5bf2e06c5a
Use natural order of ino files includes in simulation
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In Arduino, ino files are included in alphabetical order.
Cleanup unused function declarations in simulation, add missing.
Rename flu to frd function to match the code style.
2025-02-28 19:06:58 +03:00
Oleg Kalachev
bda44fca02
Remove dt multiplier from acc correction and increase acc weight
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More classical complementary filter implementation
Increase effective accelerometer weight for faster convergence
2025-02-28 00:51:16 +03:00
Oleg Kalachev
a2cf318189
Check target system id in mavlink messages
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Skip messages addressed to other systems
2025-02-26 00:08:23 +03:00
Oleg Kalachev
83a8dcd63e
Cleanup mavlink subsystem code
2025-02-24 13:06:38 +03:00
Oleg Kalachev
c62e536b50
Put last control time in RC control mavlink message instead of send time
2025-02-22 20:07:26 +03:00
Oleg Kalachev
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
Oleg Kalachev
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
Oleg Kalachev
bfef7bd26a
Remove non-nessesary printArray function
2025-02-18 10:26:59 +03:00
Oleg Kalachev
e54e0e8c48
Make all the basic functionality work without the imu
2025-02-17 19:44:18 +03:00
Oleg Kalachev
149c62568f
Refactor CLI submodule
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Move command parsing to doCommand
Parse command with splitString instead of stringToken
Trim commands
Move cliTestMotor to the bottom
Rename parseInput to handleInput, which is more clear
Move motor test function to motors.ino
2025-02-17 15:51:58 +03:00
Oleg Kalachev
6ed6ef3e8c
Assume armed is true if armed channel is not defined
2025-02-12 10:15:42 +03:00
Oleg Kalachev
083db659c6
Improve RC reading in calibration process
2025-02-12 10:15:13 +03:00
Oleg Kalachev
3ed4143ba0
Simplify WIFI_ENABLED macro test
2025-02-08 02:41:09 +03:00
Oleg Kalachev
15fbe34d19
Add failsafe to prevent arming without prior zero throttle
2025-01-24 16:23:59 +03:00
Zatupitel
7d2d54a94d
Fix working on ESP32-S3 ( #8 )
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Disable brown-out detector in a more correct way: clear only enable bit instead of clearing the whole register.
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Co-authored-by: Oleg Kalachev <okalachev@gmail.com>
2025-01-24 14:35:44 +03:00
Oleg Kalachev
60fbe1c450
Fix firmware build with Wi-Fi disabled
2025-01-24 13:50:07 +03:00
Oleg Kalachev
dcfe39f8c9
Move SBUS RC declaration to the top
2025-01-24 12:10:48 +03:00
Oleg Kalachev
fd6bc42e9e
Fix critical typo in RC loss fail-safe
2025-01-23 00:34:59 +03:00
Oleg Kalachev
b19270f14e
Minor cleanups and fixes
2025-01-17 12:30:12 +03:00
Oleg Kalachev
740121a88e
Check if requested parameters indexes are correct
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In case if gcs gets crazy and requests incorrect parameter index
2025-01-14 21:14:04 +03:00
Oleg Kalachev
7effd92043
Make MAVLink control scale a parameter
2025-01-14 14:51:34 +03:00
Oleg Kalachev
70f5186c1b
Use double for storing time instead of float
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Float precision may be not enough after some time of operating
2025-01-12 19:58:36 +03:00
Oleg Kalachev
d4e04c46cd
Add time command to cli
2025-01-12 19:50:00 +03:00
Oleg Kalachev
48d21a911f
Add missing const qualifiers
2025-01-12 19:46:50 +03:00
Oleg Kalachev
f456e10177
Increase motors PWM frequency to 1000
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To match the main loop frequency
2025-01-12 15:35:05 +03:00
Oleg Kalachev
9e4a2c5ffc
Move controlsTime variable to rc.ino
2025-01-11 00:28:31 +03:00
Oleg Kalachev
b9e30be98c
Better support for ESCs, add PWM_STOP parameter
2025-01-10 10:49:40 +03:00
Oleg Kalachev
821e6b105e
Make channels definition to rc.ino
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It's also planned to parametrize them later
2025-01-10 09:37:48 +03:00
Oleg Kalachev
568f9dd5b1
Minor code improvements
2025-01-10 08:59:09 +03:00
Oleg Kalachev
698cc3d9b8
Global variables cleanups
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Remove unused PID objects for cli
Move loopRate to time.ino
2025-01-10 07:10:30 +03:00
Oleg Kalachev
85172cdcc8
Make util module header instead of .ino-file
2025-01-10 06:51:14 +03:00
Oleg Kalachev
08b14d1d76
Minor cleanup
2025-01-10 06:04:32 +03:00
Oleg Kalachev
95824e3b75
Make max tilt and max angle rates MAVLink parameters
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Also decrease default max yaw rate to 300 degrees
2025-01-10 06:00:06 +03:00
Oleg Kalachev
0a45614751
Move motorsActive function to motors.ino
2025-01-09 11:30:04 +03:00
Oleg Kalachev
c8109af04f
Make ONE_G definition const and move to utils.ino
2025-01-09 11:24:40 +03:00
Oleg Kalachev
404ceed851
Make motor indexes definition const int and move them to motors.ino
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Remove motor indexes definitions from flix.ino
Add motors.ino to simulation code and implement required mocks
2025-01-09 11:14:18 +03:00
Oleg Kalachev
72033cdd75
Increase motors PWM resolution to 12 bits
2025-01-09 11:02:38 +03:00
Oleg Kalachev
3088ade743
Fix getDutyCycle return type to make it possible to increase resolution
2025-01-09 11:02:21 +03:00
Oleg Kalachev
c2a9d36d4e
Add small delay before gyro calibration
2025-01-09 10:06:15 +03:00
Oleg Kalachev
ca409396c7
Add missing const qualifiers to some quaternion methods
2025-01-09 10:02:53 +03:00
Oleg Kalachev
ca032abc03
Implement rotate method for quaternions as replace for multiplication
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Vector rotating method is renamed from `rotate` to `rotateVector` to avoid inconsistent object and argument order in different `rotate` methods
2025-01-09 09:56:49 +03:00
Oleg Kalachev
5d10446aaf
Bring back possibility to use ESCs for motors
2025-01-09 07:43:49 +03:00
Oleg Kalachev
732de2a5d6
Remove redundant inline specifiers
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In-class defined methods are specified as inline by default
2025-01-04 04:09:51 +03:00
Oleg Kalachev
e10475a5e0
Some minor cleanups and fixes
2024-12-28 23:57:44 +03:00
Oleg Kalachev
7ae5457bb4
Improve logging code
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Make it easer to add and remove log entries
2024-12-28 22:10:43 +03:00
Oleg Kalachev
299c8a6a02
Various minor fixes
2024-12-27 21:52:21 +03:00
