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Author SHA1 Message Date
Oleg Kalachev 3cc3014ca0 Improve logic of passing channels data in simulated SBUS 
Return the data the same way as on the real drone without touching channels global vairable
 2024-12-23 02:04:22 +03:00
Oleg Kalachev b6286a50b2 Minor change 2024-12-23 02:01:55 +03:00
Oleg Kalachev 4f2cf0c0b1 Don't let throttle be less than 0 in failsafe 2024-12-23 01:32:25 +03:00
Oleg Kalachev f06a9301df Add notice on removing props in motor test commands in help 2024-12-23 01:14:05 +03:00
Oleg Kalachev 41cde3261a Minor troubleshooting article fix 2024-12-21 13:53:04 +03:00
Oleg Kalachev f54da5bf42 Add CLI command for rebooting the drone 2024-12-20 20:59:59 +03:00
Oleg Kalachev d01d5b7ecb Improve Markdown linting 
* Move .markdownlint to the root so it applies to the main readme.
* Improve .markdownlint, enable proper names checks.
* Use markdownlint-cli2 instead of markdownlint-cli as it's more compatible with VSCode extension.
 2024-12-17 17:16:19 +03:00
Oleg Kalachev 0608765347 Add link to textbook website to readme 2024-12-17 11:27:14 +03:00
Oleg Kalachev b70d16c1f7 Update deploy-pages version to fix website deploy 2024-12-16 12:13:36 +03:00
Oleg Kalachev f7253bed70 Temporarily disable macOS simulation build 2024-12-16 11:59:49 +03:00
Oleg Kalachev 9957205d8f Fix website deploy 2024-12-16 11:58:35 +03:00
Oleg KalachevandGitHub 8440ddd3ee Create book and deploy it to the website (#6) 
* Create book structure.
* Add workflow for linting the markdown using markdownlint.
* Add workflow for building the book with mdBook and deploying to the website.
* Restyle mdBook and support GitHub-style alerts.
* Add images zooming.
* Add index, firmware structure and gyroscope articles.
 2024-12-16 11:53:43 +03:00
Oleg Kalachev 66ba9518ae Minor readme fix 2024-12-16 11:30:53 +03:00
Oleg Kalachev d273b77ce2 Bring back macOS simulation build in Actions 2024-12-12 09:07:09 +03:00
Oleg Kalachev 77effa5577 Rotate IMU data to support standard axes orientation in new FlixPeriph 2024-12-11 06:17:37 +03:00
Oleg Kalachev fcb426a16f Update MAVLink-Arduino to 2.0.11 2024-12-09 08:04:36 +03:00
Oleg Kalachev eea1a6a83c Minor fix in troubleshooting article 2024-12-08 07:40:24 +03:00
Oleg Kalachev 9d470cbdfa Add info on required version of Ubuntu for the simulation 2024-12-05 09:28:44 +03:00
Oleg Kalachev 6e140d673c Cleanup unused utility functions 2024-12-05 08:29:21 +03:00
Oleg Kalachev c75760e9e6 Some readme change regarding using different IMU board 2024-12-04 23:00:26 +03:00
Oleg Kalachev 172b6becc6 Use new FlixPeriph library with ICM-20948 support 2024-12-04 14:41:23 +03:00
Oleg Kalachev 475e9a87ba Configure IMU before calibrating the gyro which improves calibration 2024-12-04 12:25:07 +03:00
Oleg Kalachev ea141f851f Use 'loop rate' term instead of misleading 'loop frequency' 2024-12-04 07:00:00 +03:00
Oleg Kalachev 7fa3baa76a Add some minor clarification under the IMU orientation picture 2024-11-30 04:59:04 +03:00
Oleg Kalachev 2c5eac92ea Add diagram for IMU orientation 2024-11-29 10:14:11 +03:00
Oleg Kalachev 048a3c6375 Use the new UART2 pins for RC by default 
To make it consistent with the documentation
 2024-11-27 23:02:20 +03:00
Oleg Kalachev a65ec946c0 Update ESP32 core to 3.0.7 2024-11-24 01:45:41 +03:00
Oleg Kalachev 429aecbbad Temporarily disable macOS simulation build in CI 2024-11-24 01:08:03 +03:00
Oleg Kalachev a7b69f99d0 Fix non-working motor control commands 2024-11-24 00:17:47 +03:00
Oleg Kalachev b015c15a7e Remove non-working fullmot command 2024-11-24 00:10:37 +03:00
Oleg Kalachev 7a2f2d955b Minor fix to the troubleshooting 2024-11-23 18:18:19 +03:00
Oleg Kalachev c611549f67 Update link to the troubleshooting article 2024-11-23 18:16:46 +03:00
Oleg Kalachev be3c5bf312 Add troubleshooting article 2024-11-23 18:13:41 +03:00
Oleg Kalachev f6ddeb4689 Clarify GY-91 pin names 2024-11-12 21:02:47 +03:00
Oleg Kalachev f6006d3305 Fix c_cpp_properties.json to match updated ESP32 core version 2024-11-04 16:35:22 +03:00
Oleg Kalachev eca48c6546 Minor fix 2024-11-04 16:28:54 +03:00
Oleg Kalachev cd5f6721dc Updates to LED control code 
Don't call digitaWrite on each setLED call
 2024-11-04 16:28:43 +03:00
Oleg Kalachev e7445599cc Update core and libraries to the most recent versions 2024-11-04 16:28:13 +03:00
Oleg Kalachev 6327585754 Print accel calibration parameters in more convenient way 2024-11-04 14:37:05 +03:00
Oleg Kalachev ec832d4e37 Implement RC fail-safe 2024-11-04 11:51:17 +03:00
Oleg Kalachev 2fdad7bdb6 Remove LED horizontality signalization 
It's better to control the attitude estimation using QGC
 2024-11-03 17:41:13 +03:00
Oleg Kalachev c5c889679b Fix simulation build 2024-10-31 19:27:27 +03:00
Oleg Kalachev ad2c64625c Print the IMU information in imu command 2024-10-31 10:24:00 +03:00
Oleg Kalachev 39d4f39932 Some updates in docs 2024-10-30 09:45:27 +03:00
Oleg Kalachev 57fe3fef2a Upload STEP files for models 2024-10-29 14:18:03 +03:00
Oleg Kalachev 4ba9accf4b Fix image for washer-m3 model 2024-10-29 14:04:42 +03:00
Oleg Kalachev 99c891e1cd Add explanation on installing the right ESP32 core in build insutrctions 2024-10-27 11:07:53 +03:00
Oleg Kalachev 378db51de9 Get rid of simulator build warnings 2024-10-24 03:50:03 +03:00
Oleg Kalachev 8a83d70bb6 Update MAVLink-Arduino to 2.0.10 2024-10-24 03:49:28 +03:00
Oleg Kalachev ba5ac30136 Adjust the default camera position in the simulator 2024-10-24 03:48:31 +03:00
Oleg KalachevandGitHub baf724ed6e Minor README fixes 2024-10-23 14:45:57 +03:00
Oleg Kalachev af58d56138 README fixes 2024-10-23 14:35:28 +03:00
Oleg Kalachev 13341602f0 Fix Gazebo stl model orientation 2024-10-23 14:30:25 +03:00
Oleg Kalachev 84368738b4 Major documentation update, the new drone version files released 2024-10-23 10:17:47 +03:00
Oleg Kalachev 0397b3a736 Move the visual part of the gazebo model to the bottom of the file 2024-10-23 09:42:17 +03:00
Oleg Kalachev c41c96a96d Update visual of the Gazebo model to the new version 
Use STL instead of DAE, make props separated visuals
 2024-10-23 09:41:16 +03:00
Oleg Kalachev a94687bd56 Keep the t variable monotonic in the simulation 
Otherwise it causes stopping sending MAVLink and other bugs
 2024-10-23 09:36:54 +03:00
Oleg Kalachev abcc9b96de Use FLU as the main coordinate system instead of FRD 
Corresponding to the IMU orientation in the new version
 2024-10-23 09:30:49 +03:00
Oleg Kalachev f46460e53d Make RC_CHANNELS=16 corresponding the number of SBUS channels 2024-10-23 09:28:09 +03:00
Oleg Kalachev 23f3295439 Remove ESC support and add MOSFET support in motors code 
The new version uses MOSFETs
 2024-10-23 09:27:54 +03:00
Oleg Kalachev b0b6eb9a97 Minor code cleanups and clarifications 2024-10-23 09:25:39 +03:00
Oleg Kalachev 84a329cca7 More clean yaw error calculation 2024-10-23 09:25:07 +03:00
Oleg Kalachev 5613028678 Enable Wi-Fi by default 2024-10-23 09:24:58 +03:00
Oleg Kalachev a0cca80980 Some fixes to VSCode config 2024-07-30 09:28:20 +03:00
Oleg Kalachev bed5d79db8 Add comments to motor pins 2024-07-30 07:49:21 +03:00
Oleg Kalachev da51ebab38 Add some C++ code style settings to VSCode settings 2024-07-30 07:46:40 +03:00
Oleg Kalachev 0b977aee28 Add json rules to .editorconfig 2024-07-30 07:46:15 +03:00
Oleg Kalachev 6ef8820770 Add VSCode configuration 2024-07-25 06:51:47 +03:00
Oleg Kalachev e993dde355 Update ESP32 Arduino Core to v3.0.3 2024-07-25 02:45:59 +03:00
Oleg Kalachev 627233f862 Minor updates 2024-07-25 02:44:47 +03:00
Oleg Kalachev ce87234a51 Add link to Android QGroundControl download to building instructions 2024-06-18 14:43:40 +03:00
Oleg Kalachev e40fbd0ce2 Install arduino-cli without sudo in instructions 2024-06-18 13:51:07 +03:00
Oleg Kalachev 0938609dc7 Update checkout action to v4 
v3 is deprecated
 2024-06-12 03:26:17 +03:00
Oleg Kalachev 1a22350775 Add article on analyzing the logs 2024-06-02 11:46:32 +03:00
Oleg Kalachev 72b2cf49d5 Add tools for conversion svg logs to mcap 2024-06-02 01:45:49 +03:00
Oleg Kalachev 63d602dd7a Add C++ tool for conversion csv logs to ulog 2024-06-02 01:45:05 +03:00
Oleg Kalachev 1119c77cca Remove unneeded abs for motors thrust in simulation 2024-05-24 14:47:26 +03:00
Oleg Kalachev fbe33eac1b Set gyro limits to 2000 DPS by default 2024-05-24 14:46:38 +03:00
Oleg Kalachev 7cfcf5b63b Use more natural torqueTarget order in mixer (xyz) 2024-05-21 10:52:39 +03:00
Oleg Kalachev 94d24cbd28 Fix PWM values for reverse rotations 2024-05-21 10:51:45 +03:00
Oleg Kalachev be3d2be9d3 Fix Vector::angularRatesBetweenVectors return NaNs on opposite vectors 2024-05-21 10:50:47 +03:00
Oleg Kalachev ad6bc02643 Minor fixes and changes 2024-05-21 10:49:57 +03:00
Oleg Kalachev b91f4d3b6d Install arduino-cli to /usr/local/bin 
The Arduino docs probably has mistake offering non-existent ~/local/bin path instead of ~/.local/bin.
Some systems lack ~/.local/bin as well, so simply use /usr/local/bin.
Also install arduino-cli in CI the same way as in the docs to check them.
 2024-05-21 10:34:05 +03:00
Oleg Kalachev 28da7baf61 Add link to Habr article to readme 2024-05-17 07:59:18 +03:00
Oleg Kalachev 7516279132 Add requirements.txt for tools 2024-05-10 22:28:42 +03:00
Oleg Kalachev a383c83a29 Minor update to .editorconfig 2024-05-02 21:22:13 +03:00
Oleg Kalachev 6392c4a97a Update dataflow diagram to reflect newly introduced gyro variable 2024-05-01 02:35:30 +03:00
Oleg Kalachev cfb2e60310 Add correct rules to yml files editor config 2024-05-01 02:33:44 +03:00
Oleg Kalachev 41a9a95747 Transfer gyro low pass filter to estimate.ino 
Separate raw gyro data and filtered rates to different variables
 2024-04-20 14:52:01 +03:00
Oleg Kalachev 24e8569905 Make Vector methods arguments more consistent 2024-04-20 10:57:32 +03:00
Oleg Kalachev fb80b899e0 Refine Gazebo installation instructions for macOS 2024-04-09 02:45:21 +03:00
Oleg Kalachev d095b81d7e Print out loop frequency on imu command 2024-04-02 22:28:02 +03:00
Oleg Kalachev 28a6bf2230 Add info about motors testing commands to intro message 2024-03-30 18:23:42 +03:00
Oleg Kalachev fff7262d1b Minor fix for SBUS dummy for simulator 2024-03-23 09:20:08 +03:00
Oleg Kalachev 646fa46f6b Use FlixPeriph library for SBUS 2024-03-17 02:29:37 +03:00
Oleg Kalachev f782f647cb Correctly restore IMU settings after accel calibration 2024-03-15 13:26:59 +03:00
Oleg Kalachev 32f29dc1a4 Use default SPI CS pin for IMU 2024-03-15 13:14:28 +03:00
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