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404 Commits 8 Branches 3 Tags
Commit Graph

213 Commits

Author SHA1 Message Date
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
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
82f3ab563a #1 - use MAVLink Arduino library 2024-01-04 12:57:15 +03:00
Oleg Kalachev
2fbebe102e Define ESP32 Dev Module LED pin 2024-01-03 16:09:43 +03:00
Oleg Kalachev
f520b57abe Implement RC calibration, common for the real drone and the simulation 2024-01-02 11:54:09 +03:00
Oleg Kalachev
d2296fea76 Change C++ code style: put curly brace on the same line 2023-12-29 18:56:25 +03:00
Oleg Kalachev
3207fdb43c Minor changes 2023-12-29 18:43:34 +03:00
Oleg Kalachev
343935f98c Minor fixes 2023-12-19 22:00:30 +03:00
Oleg Kalachev
189eac95ef Enable gyro calibration on the start 2023-12-19 11:36:27 +03:00
Oleg Kalachev
fde9c1cf36 Minor changes and cleanups 2023-12-19 05:25:57 +03:00
Oleg Kalachev
a174d5cd7d Headers cleanups 2023-12-19 05:06:19 +03:00
Oleg Kalachev
d3e7291197 Guard for angleBetweenVectors function to ensure it doesn't return NaN 2023-12-19 04:58:20 +03:00
Oleg Kalachev
57e83040b8 Apply accelerometer in estimation only when we're landed and stable 
Accelerometer gives only motors specific force in flight, which makes
it useless to determine the current vertial
 2023-12-19 04:46:59 +03:00
Oleg Kalachev
a9bcec2fa5 Main sdf cleanups, minor fix 2023-12-15 09:43:54 +03:00
Oleg Kalachev
f118bca6d1 Correctly fill armed field in heartbeat mavlink message 2023-12-15 09:35:54 +03:00
Oleg Kalachev
d3e715ae53 Quaternion library cleanups and code style 2023-12-13 08:42:03 +03:00
Oleg Kalachev
997af183f0 Implement lacking vector division operator 2023-12-13 08:38:26 +03:00
Oleg Kalachev
2c21114540 Refactor control, remake controlManual to controlTorque 2023-12-13 08:33:35 +03:00
Oleg Kalachev
4fcf2109ce Simplify code using angularRatesBetweenVectors 2023-12-13 08:25:11 +03:00
Oleg Kalachev
24b62e5145 Move controlManual down 2023-12-13 08:06:15 +03:00
Oleg Kalachev
f37015a97f Temporary remove controlManual to paste it bellow 2023-12-13 08:05:44 +03:00
Oleg Kalachev
cb27e0f61f Cleanups 2023-12-13 07:59:08 +03:00
Oleg Kalachev
46579ce8a4 Better code for yaw target 2023-12-13 07:49:57 +03:00
Oleg Kalachev
860db237b7 Add reset command to cli 2023-12-13 07:48:23 +03:00
Oleg Kalachev
2a06155cbe Fix timestamp in mavlink, add imu message, cleanup 2023-12-10 05:51:10 +03:00
Oleg Kalachev
2df8c608d5 Fix mavlink module 2023-12-10 03:41:01 +03:00
Oleg Kalachev
c77c25ef4e dt can be negative on simulator reset 2023-12-04 00:27:55 +03:00
Oleg Kalachev
94b483cda6 Transfer fullMotorTest function to motors.ino 2023-12-03 20:43:55 +03:00
Oleg Kalachev
dbd413c234 Minor code cleanups and fixes 2023-11-12 10:51:56 +03:00
Oleg Kalachev
6dae4abaa2 Print low pass filters parameters and current mode in cli 2023-11-11 06:21:06 +03:00
Oleg Kalachev
7cabdc5e62 Implement low pass filter in separate module 2023-11-11 06:19:51 +03:00
Oleg Kalachev
a04d713157 Fix log period computation 2023-11-11 06:18:06 +03:00
Oleg Kalachev
8df71b078d Cleanups and minor changes 2023-11-11 06:17:50 +03:00
Oleg Kalachev
70eae3e556 Some cleanups 2023-11-11 06:15:20 +03:00
Oleg Kalachev
b1dae8c33d Minor cleanup 2023-05-31 23:51:28 +03:00
Oleg Kalachev
9eaa45c1d9 Consistently use defines to set parameters 2023-05-31 20:16:43 +03:00
Oleg Kalachev
39875cafb9 Remove non-effective statics 2023-05-31 20:12:45 +03:00
Oleg Kalachev
9a93367629 Make dt=0 on first step, simplify code 2023-05-31 20:07:38 +03:00
Oleg Kalachev
4160b8da07 Minor code rearrange 2023-05-29 18:46:29 +03:00
Oleg Kalachev
f84d1e95dd More cleanups 2023-05-26 16:46:22 +03:00
Oleg Kalachev
88cc792287 Cleanups 2023-05-26 16:24:19 +03:00
Oleg Kalachev
c1aa0d9869 Store current time in float variable 2023-05-26 16:23:30 +03:00
Oleg Kalachev
c5323f5723 Add accel calibration command 2023-05-26 16:21:54 +03:00
Oleg Kalachev
147eef0af7 Cleanups 2023-05-25 11:42:13 +03:00
Oleg Kalachev
7b81cfbe90 Fix util.ino 2023-05-24 11:32:42 +03:00
Oleg Kalachev
d6cca7dcf7 Some unification of the headers 2023-05-24 11:26:30 +03:00
Oleg Kalachev
1125335b16 Cleanup, use printf 2023-05-24 11:22:59 +03:00
Oleg Kalachev
17edd0ee00 Show imu data in cli 2023-05-24 11:05:11 +03:00