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156 Commits

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Author SHA1 Message Date
Oleg Kalachev
2cf1c7abb3 Use FlixPeriph library for IMU, implement own IMU calibration 2024-03-15 10:38:48 +03:00
Oleg Kalachev
d752cce0cc Fix accel calibration upside down wait time 2024-03-12 00:36:53 +03:00
Oleg Kalachev
aeec8e34eb Add auto-center throttle setting notice to QGC usage documentation 2024-03-03 21:08:43 +03:00
Oleg Kalachev
34a81536c2 Fix reverse motors pwm 2024-03-02 15:37:38 +03:00
Oleg Kalachev
1c9b10a674 Use default recommended chip-select pin (GPIO5) for SPI 
Update link to the schematics #3 to the most recent version
 2024-02-24 15:28:41 +03:00
Oleg Kalachev
ab2f99ab59 Simplify making user modes for control, add USER mode 2024-02-22 03:09:12 +03:00
Oleg Kalachev
5b6ef9c50e Add warning about shaft diameter for the motors 2024-02-21 18:24:35 +03:00
Oleg Kalachev
5ec6b5e665 Make fromEulerZYX accept Vector instead of x, y, z 2024-02-20 04:51:59 +03:00
Oleg Kalachev
85182ac2b8 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
 2024-02-20 04:47:13 +03:00
Oleg Kalachev
455729fdb4 Improve log download: remove empty records, sort by timestamp 
To make Plotjuggler not to warn about unsorted records everytime
 2024-02-18 01:23:33 +03:00
Oleg Kalachev
4eec63adfa Add info about input group for joystick usage in building instructions 2024-02-17 22:17:27 +03:00
Oleg Kalachev
e0db3bee38 Read mode stick using axis read in simulation 2024-02-16 01:13:32 +03:00
Oleg Kalachev
bf803cf345 Display MAVLink remote port in simulator 2024-02-10 14:12:09 +03:00
Oleg Kalachev
33319db1fa Make rates LPF cut-off frequency equal to 40 Hz 2024-02-07 10:49:31 +03:00
Oleg Kalachev
ba6e63b50b Correctly set output parameters of simulated SBUS::read, minor name fix 2024-02-06 21:02:20 +03:00
Oleg Kalachev
410fccf015 Fix vector, quaternion, pid and lpf libraries curly braces code style 2024-02-06 13:50:56 +03:00
Oleg Kalachev
31d382dd86 Simplify motors pwm calculation using unified value for all motors 2024-02-06 10:49:48 +03:00
Oleg Kalachev
0661aecccf Remove unneeded INVERT_SERIAL define 2024-02-04 14:42:57 +03:00
Oleg Kalachev
0f83e8ed80 Add info on how to control the simulated drone to build instructions 2024-01-31 17:20:59 +03:00
Oleg Kalachev
f718af7f0e Support MAVLink usage in simulation 2024-01-31 12:10:18 +03:00
Oleg Kalachev
4850b95029 Add a readme to gazebo directory 2024-01-31 12:07:37 +03:00
Oleg Kalachev
2694f68b87 Add yaw dead zone in mavlink control 2024-01-31 12:05:49 +03:00
Oleg Kalachev
033e74a375 Minor code cleanups 2024-01-31 12:05:25 +03:00
Oleg Kalachev
a24f039f1d Fix RC_CHANNELS_SCALED inactive channel values 
They should be INT16_MAX not UINT16_MAX
 2024-01-31 12:04:44 +03:00
Oleg Kalachev
6b52ad562b Minor const clarification 2024-01-31 12:00:23 +03:00
Oleg Kalachev
69cfc9e5fa Utilize internal ESP32 UART invertor for SBUS 2024-01-26 13:46:13 +03:00
Oleg Kalachev
1b54b3fa25 Enable macOS build 
https://github.com/osrf/homebrew-simulation/pull/2526#issuecomment-1904384070
 2024-01-26 13:16:17 +03:00
Oleg Kalachev
f794da916d Disable macos build for now as it takes too long to execute 2024-01-19 05:29:52 +03:00
Oleg Kalachev
ed6d09061b Rename RC_CHANNEL_AUX to RC_CHANNEL_ARMED 2024-01-19 05:19:41 +03:00
Oleg Kalachev
26a028ff66 Use only STAB mode by default 2024-01-19 05:16:44 +03:00
Oleg Kalachev
2d365dcffe Minor fixes 2024-01-19 05:14:12 +03:00
Oleg Kalachev
c22961e5ff Don't calibrate gyro on start since MPU9250 library does that on begin 2024-01-19 05:05:49 +03:00
Oleg Kalachev
9ad718cb85 Fix macOS build 2024-01-19 05:04:40 +03:00
Oleg Kalachev
172f6b173a MAVLink input support (control using mobile phone) 2024-01-17 15:39:40 +03:00
Oleg Kalachev
8e629e3eea Minor cleanups 2024-01-17 15:20:38 +03:00
Oleg Kalachev
482bb8ed71 Disable ESP32 reset on low voltage 2024-01-17 15:18:11 +03:00
Oleg Kalachev
4ec6ff3f37 Update main schematics diagram 2024-01-14 17:07:49 +03:00
Oleg Kalachev
9ed41e50a1 Fix actuator_output mavlink message generation 2024-01-13 22:53:30 +03:00
Oleg Kalachev
344835cba8 Add firmware overview article 2024-01-13 14:08:02 +03:00
Oleg Kalachev
654badd097 Fix macos simulator build 2024-01-12 18:34:05 +03:00
Oleg Kalachev
a8cd72e654 Add dataflow diagram to images 2024-01-12 00:44:01 +03:00
Oleg Kalachev
f4aaf0f4f3 Use radians macro, minor change 2024-01-12 00:43:52 +03:00
Oleg Kalachev
1ed05a94dd Minor code cleanups 2024-01-08 22:33:11 +03:00
Oleg Kalachev
e1e747969b Add .gitattributes so linguist would detect languages correctly 2024-01-06 14:41:24 +03:00
Oleg Kalachev
48ea797a47 Make simulator read RC through real drone code 2024-01-06 00:09:29 +03:00
Oleg Kalachev
476f24f774 Clarify rates control code 2024-01-06 00:08:30 +03:00
Oleg Kalachev
7a62229125 Minor cleanups 2024-01-05 15:11:07 +03:00
Oleg Kalachev
e7864b1e55 #2 Use official MPU9250 library 1.0.2 
The release was fixed https://github.com/bolderflight/invensense-imu/issues/123
 2024-01-05 14:25:19 +03:00
Oleg Kalachev
f72745a2e7 Add a link to full circuit diagram variant to readme #3 2024-01-04 23:32:17 +03:00
Oleg Kalachev
317ecc95cc Update libraries index before installing libraries 2024-01-04 19:35:55 +03:00