Oleg Kalachev
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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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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
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Print the number of each calibration step
2025-05-05 00:38:08 +03:00
Oleg Kalachev
67efcdd08a
Remove unused macro
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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
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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
