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Author SHA1 Message Date
Oleg Kalachev 18bacb64f3 Make rc loss timeout longer 2025-07-31 12:35:28 +03:00
Oleg Kalachev 7e8bd3e834 Minor updates 2025-07-28 22:07:33 +03:00
Oleg Kalachev bb0643e8c6 Add missing set_velocity method stub to pyflix 2025-07-28 22:06:30 +03:00
Oleg Kalachev 32f417efae Updates in pyflix 
Rename mav_to to system_id to match firmware naming.
Readme updates.
 2025-07-24 09:15:44 +03:00
Oleg Kalachev 018a6d4fce Add repository field to python library 2025-07-22 17:21:51 +03:00
Oleg KalachevandGitHub 1f47aa6d62 Add Python library (#20) 2025-07-22 14:17:08 +03:00
Oleg Kalachev 779fa13e80 Increase connection timeout for arduino-cli as it prevents some users from downloading the core 2025-07-21 11:12:47 +03:00
Oleg Kalachev 5eccb3f0c4 Fix rates, acc and gyro coordinate frame in mavlink 
All of them should be in frd.
Get rid of fluToFrd function - there is no big need for it.
 2025-07-19 05:32:49 +03:00
Oleg Kalachev 29f1a2b22b Minor fixes to builds list 2025-07-18 14:19:43 +03:00
Oleg Kalachev 1d4ce810a9 Add chkroko's bldc build 2025-07-18 12:14:42 +03:00
Oleg Kalachev 32874b92fd Minor fixes 2025-07-14 12:05:16 +03:00
Oleg Kalachev 6b38070e43 Rename printIMUCal to printIMUCalibration for consistency with rc 2025-07-14 12:04:02 +03:00
Oleg Kalachev 52819e403b Major rework of rc subsystem 
Implement channels mapping calibration.
Store mapping in parameters.
Get rid of `controls` array and store control inputs in `controlRoll`, `controlPitch`, ... variables.
Move `channels` variable to rc.ino, channels are not involved when controled using mavlink.
'Neutral' values are renamed to 'zero' - more precise naming.
`controlsTime` is renamed to `controlTime`.
Use unsigned values for channels.
Make channel values in simulation more alike to real world: unsigned values in range [1000, 2000].
Send RC_CHANNELS_RAW instead of RC_CHANNELS_SCALED via mavlink
Don't send channels data via mavlink if rc is not used
 2025-07-14 12:01:29 +03:00
Oleg Kalachev 449dd44741 Fix storing nans and infs in preferences in simulator 
Turns out file streams cannot parse nans and infs on some platforms, so use std::stof to parse.
 2025-07-14 09:52:49 +03:00
Oleg Kalachev e389d717d6 Show unspecified core as * in sys command 2025-07-13 11:12:54 +03:00
Oleg Kalachev ea8463ed70 Fixes in firmware variables description 2025-07-12 10:07:52 +03:00
Oleg Kalachev 85afe405cb Improve pause function work 
Fix disconnecting from qgc while pausing in the simulation. 
Consider total delay time in micros() in simulation to increase t while delaying.
Simplify and get rid of ARDUINO macro check.
 2025-07-12 09:29:47 +03:00
Oleg Kalachev fd4bcbeb89 Minor changes 2025-07-10 07:27:53 +03:00
Oleg Kalachev 121b50d896 Increase motors pwm frequency to 78Khz 
1000 Hz is too low frequency considering the update loop for motors signal is also 1000 Hz.
Decrease resolution as it's required to set larger pwm frequencies.
This change should vastly improve control jitter and remove audible motors noise.
 2025-07-03 03:46:11 +03:00
Oleg Kalachev 48c7135efb Return zero rotation vector when converting neutral quaternion 
Previously it would return nans
 2025-07-01 02:48:49 +03:00
Oleg Kalachev 9229b743eb Add missing equals and non-equals operators for quaternion lib 2025-07-01 02:47:01 +03:00
Oleg Kalachev 52d31ba7a5 Add missing includes to Arduino.h to make build more portable 2025-07-01 02:38:47 +03:00
Oleg Kalachev f11ab2dc16 Add info on mpu-6050 2025-06-30 12:29:07 +03:00
Oleg Kalachev 93383cc7f9 Add chkroko's build 2025-06-19 13:25:01 +03:00
Oleg Kalachev 389cfb94ab Add missing newlines to initialization prints 2025-06-19 13:19:00 +03:00
Oleg Kalachev 045f2c5ed5 Minor docs changes 2025-06-19 13:19:00 +03:00
Oleg Kalachev 31f5e1efbb Upload built firmware binaries as artifact 2025-06-02 02:32:27 +03:00
Oleg Kalachev 2d77317abc Minor fixes in book 2025-05-31 16:56:05 +03:00
Oleg Kalachev 963cbe09dd Minor fix in book 2025-05-31 13:15:25 +03:00
Oleg Kalachev 98fc0cf5b4 Add quaternion and vector chapter to book 2025-05-31 12:46:33 +03:00
Oleg Kalachev 6b7601c0bd Improve vector and quaternion libraries 
Make the order or basic methods consistent between Vector and Quaternion.
Remove `ZYX` from Euler method names as this is standard for robotics.
Rename angular rates to rotation vector, which is more correct.
Make rotation methods static, to keep the arguments order consistent.
Make `Quaternion::fromAxisAngle` accept Vector for axis.
Minor fixes.
 2025-05-31 04:17:00 +03:00
Oleg Kalachev 929bdd1f35 Minor fixes in book 2025-05-31 03:29:44 +03:00
Oleg Kalachev 660913f8bb Remove version 0 section from the readme 2025-05-23 17:17:27 +03:00
Oleg Kalachev 25e3056891 Add disclaimer to readme 2025-05-23 16:47:04 +03:00
Oleg Kalachev be7b6ec0c9 Fix simulator build 2025-05-16 05:02:27 +03:00
Oleg Kalachev 9c8c0e2578 Minor code updates 2025-05-15 09:22:17 +03:00
Oleg Kalachev 7e5a75a01f Revert sending mavlink udp packets in unicast 
This requires more complex approach as client ip may change between reconnections
 2025-05-10 05:45:57 +03:00
Oleg Kalachev 2bcab6edb3 Make cli command case insensitive 
iOS QGC capitalizes the command by default, so it's more convinient
 2025-05-10 05:15:54 +03:00
Oleg Kalachev df2b10acd4 Make wi-fi code more consistent between the firmware and simulation 2025-05-10 05:13:57 +03:00
Oleg Kalachev 31d6636754 Send mavlink udp packets in unicast after connected 
Tests and research show this is more efficient way of sending telemetry
 2025-05-10 05:08:04 +03:00
Oleg Kalachev b143c2f1b3 Add recommended 3D printing settings to readme 2025-05-09 06:55:28 +03:00
Oleg Kalachev a491b28201 Make sending udp packets much faster 
Turns out parsing IP address string is very slow
 2025-05-06 04:32:36 +03:00
Oleg Kalachev 4a4642bcf6 Update ESP32-Core to 3.2.0 2025-05-06 03:52:46 +03:00
Oleg Kalachev 81037d94ec Some cli improvements 
Improve loop rate formatting
Show cpu temperature in sys command
 2025-05-06 03:16:45 +03:00
Oleg Kalachev 965813e8f0 Use interrupts instead of polling for main loop 2025-05-05 13:58:23 +03:00
Oleg Kalachev 94c2d399b3 Add sys command 
Show ESP32 model and free heap
Show tasks table with stack and cpu usage
 2025-05-05 04:32:41 +03:00
Oleg Kalachev 21dc47c472 Make mavlink print buffered 
Combine all output of each step into one SERIAL_CONTROL message
 2025-05-05 00:44:06 +03:00
Oleg Kalachev 4b938e8d89 Make accelerometer calibration more verbose 
Print the number of each calibration step
 2025-05-05 00:38:08 +03:00
Oleg Kalachev 67efcdd08a Remove unused macro 
MAVLINK_CONTROL_SCALE is now parameter
 2025-05-04 00:03:38 +03:00
Oleg Kalachev d1d10c4c6c Updates to readme and documentation 2025-04-30 00:05:52 +03:00
Oleg Kalachev 4e0a1fcdab Update simulator illustration 2025-04-29 23:37:34 +03:00
Oleg Kalachev 5165355abc Make low pass filter formula more straightforward 2025-04-29 23:28:56 +03:00
Oleg Kalachev a268475f7a Add notice about firewall and vpn to troubleshooting 2025-04-29 23:22:40 +03:00
Oleg Kalachev c14fe7c48b Add some missing operator for vector library 2025-04-29 23:21:12 +03:00
Oleg Kalachev b2736e6a5b Fix simulation build in Actions 
Switched runner to Ubuntu 22.04 since Gazebo 11 now has binaries for 22.04 (amd64 only).
Changed the building tutorial to reflect that.
 2025-04-24 19:38:47 +03:00
Oleg Kalachev 962757f46e Update user builds illustration in readme 2025-04-23 20:10:29 +03:00
Oleg Kalachev f03dec4fae Update demo video 2025-04-22 11:27:29 +03:00
Oleg Kalachev fe98a5bf97 Minor code simplifications 2025-04-13 01:42:47 +03:00
Oleg Kalachev 253f2fe3dd Update MAVLink-Arduino to 2.0.16 2025-04-11 07:01:54 +03:00
Oleg Kalachev 94dc566643 Show landed state in imu command output 2025-03-29 16:19:23 +03:00
Oleg Kalachev 547f5087ef Pass landed state to mavlink 
Using EXTENDED_SYS_STATE message
 2025-03-29 16:14:37 +03:00
Oleg KalachevandGitHub 66a43ab246 Continuous gyro bias estimation (#17) 
Estimate gyro bias continuously instead of calibrating the gyro at startup.
 2025-03-29 12:21:40 +03:00
Oleg Kalachev 117ae42d1b Add Wi-Fi password to build tutorial 2025-03-29 12:02:59 +03:00
Oleg Kalachev 3a61dca102 Simplify and improve acc calibration command output 2025-03-29 01:05:55 +03:00
Oleg Kalachev a8fe1324c3 Minor readme update 2025-03-28 20:50:23 +03:00
Oleg Kalachev fc0b805cc2 Add cryptokobans's build to user projects 2025-03-28 18:23:09 +03:00
Oleg Kalachev d68222953d Simplify user builds article layout: remove tables 
Tables make photos squeezed in phones
 2025-03-27 18:56:35 +03:00
Oleg Kalachev bca1312b46 Remove twxs.cmake from the list of recommended extensions 2025-03-14 03:24:30 +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 0a87ccf435 Some minor readme updates 2025-03-01 00:27:55 +03:00
Oleg Kalachev 3fdebf39d8 Fix mavlink disconnection in pauses in cli commands 
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 
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 4e3e8c70b0 Update main book illustration 2025-02-28 03:17:09 +03:00
Oleg Kalachev bda44fca02 Remove dt multiplier from acc correction and increase acc weight 
More classical complementary filter implementation
Increase effective accelerometer weight for faster convergence
 2025-02-28 00:51:16 +03:00
Oleg KalachevandPavel Kabakov e66f6563a5 Add custom Wi-Fi control description by @pavelkabakov #11 
Co-authored-by: Pavel Kabakov <110939392+pavelkabakov@users.noreply.github.com>
 2025-02-26 01:08:36 +03:00
Oleg Kalachev 95084c167c Add user project by jeka_chex 2025-02-26 00:55:14 +03:00
Oleg Kalachev 931b2066bb Minor book fix 2025-02-26 00:20:50 +03:00
Oleg Kalachev a2cf318189 Check target system id in mavlink messages 
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 
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 
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 e3c6a0d4df Make some clarifications regarding imu check in troubleshooting 2025-02-18 10:18:27 +03:00
Oleg Kalachev 9566a4a503 Add parameters access method to build article 2025-02-18 10:14:39 +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 
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 641e711e67 Minor fix in joystick support for simulation 
Don't use channels variable as it breaks code isolation
 2025-02-15 03:29:09 +03:00
Oleg Kalachev f2171f2db4 Minor clarification in RC receiver connection table 2025-02-12 11:10:04 +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 ce1223e82d Allow CI simulator build under macOS if manually triggered 2025-02-12 06:24:51 +03:00
Oleg Kalachev 42f318c6df Another update of hall of fame page 2025-02-11 14:02:15 +03:00
Oleg Kalachev 1450c793b7 Update hall of fame page 2025-02-11 12:11:22 +03:00
Oleg Kalachev 3ed4143ba0 Simplify WIFI_ENABLED macro test 2025-02-08 02:41:09 +03:00
Oleg Kalachev 33adf33f0e Add proper command to install arduino-cli on Linux in instructions 2025-02-01 22:56:09 +03:00
Oleg Kalachev 373c0f117a Update user builds page 2025-01-31 11:15:57 +03:00
Oleg Kalachev 0cb2eb5fac Update upload-artifact action to fix build 2025-01-31 03:32:09 +03:00
Oleg Kalachev 70f63bfbe9 Add hall of fame page 2025-01-31 03:19:49 +03:00