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Author SHA1 Message Date
Oleg Kalachev 404ceed851 Make motor indexes definition const int and move them to motors.ino 
Remove motor indexes definitions from flix.ino
Add motors.ino to simulation code and implement required mocks
 2025-01-09 11:14:18 +03:00
Oleg Kalachev 72033cdd75 Increase motors PWM resolution to 12 bits 2025-01-09 11:02:38 +03:00
Oleg Kalachev 3088ade743 Fix getDutyCycle return type to make it possible to increase resolution 2025-01-09 11:02:21 +03:00
Oleg Kalachev c2a9d36d4e Add small delay before gyro calibration 2025-01-09 10:06:15 +03:00
Oleg Kalachev ca409396c7 Add missing const qualifiers to some quaternion methods 2025-01-09 10:02:53 +03:00
Oleg Kalachev ca032abc03 Implement rotate method for quaternions as replace for multiplication 
Vector rotating method is renamed from `rotate` to `rotateVector` to avoid inconsistent object and argument order in different `rotate` methods
 2025-01-09 09:56:49 +03:00
Oleg Kalachev 5d10446aaf Bring back possibility to use ESCs for motors 2025-01-09 07:43:49 +03:00
Oleg Kalachev 87cf44371b Some fixes and updates to readme and other articles 2025-01-09 03:46:54 +03:00
Oleg Kalachev 5ee407af8d Update ESP32-core to 3.1.0 2025-01-06 21:01:39 +03:00
Oleg Kalachev 59cb55cf94 Use ubuntu-20.04 runner to build simulator in CI 
The latest Ubuntu Gazebo 11 officially supports is Ubuntu 20.04
 2025-01-06 00:56:25 +03:00
Oleg Kalachev 5db1258f78 Add battery connector cable to components list 2025-01-06 00:21:59 +03:00
Oleg Kalachev 732de2a5d6 Remove redundant inline specifiers 
In-class defined methods are specified as inline by default
 2025-01-04 04:09:51 +03:00
Oleg Kalachev e10475a5e0 Some minor cleanups and fixes 2024-12-28 23:57:44 +03:00
Oleg Kalachev 7ae5457bb4 Improve logging code 
Make it easer to add and remove log entries
 2024-12-28 22:10:43 +03:00
Oleg Kalachev 299c8a6a02 Various minor fixes 2024-12-27 21:52:21 +03:00
Oleg Kalachev 43be27c43d Fix joystick work in simulation 
Logic was broken as joystickGet never got called
 2024-12-27 15:34:33 +03:00
Oleg Kalachev 2440c65c46 Remove unused include 2024-12-26 16:07:01 +03:00
Oleg Kalachev 8d7a4595f5 Rename flushParameters to more clear syncParameters 2024-12-26 01:14:26 +03:00
Oleg Kalachev acc0274175 Minor fix 2024-12-25 02:21:17 +03:00
Oleg Kalachev edd249566e Increase motors output frequency 2024-12-25 02:13:57 +03:00
Oleg Kalachev ca355e0162 Simplify motors duty cycle computation 2024-12-25 02:13:33 +03:00
Oleg Kalachev 2efae82177 Minor fixes 2024-12-25 01:41:45 +03:00
Oleg Kalachev fd30027ea4 Support AUTOPILOT_VERSION message request to make qgc connection faster 
Don't have to wait until the request is timed out.
 2024-12-23 17:59:35 +03:00
Oleg Kalachev 6f190295cf Fix building article regarding new parameters subsystem 2024-12-23 13:59:44 +03:00
Oleg Kalachev ae349fb73c Implement parameters subsystem 
* Unified parameters storage.
* Store parameters in flash on the hardware.
* Store parameters in text file in simulation.
* Work with parameters in command line.
* Support parameters in MAVLink for working with parameters in QGC.
 2024-12-23 13:00:02 +03:00
Oleg Kalachev 28f6cfff60 Fix SBUS simulation logic 
Don't consider zero values from not connected joystick
 2024-12-23 04:04:00 +03:00
Oleg Kalachev 7533a9cbfa Move ONE_G definition to flix.ino 2024-12-23 02:37:03 +03:00
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