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40bdaacedb95dc77032fab6f0424fb6b424d878a
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Author SHA1 Message Date
Oleg Kalachev
40bdaacedb Make motor subsystem configurable using parameters 
Motor pins: MOT_PIN_FL, MOT_PIN_FR, MOT_PIN_RL, MOT_PIN_RR.
PWM configuration: MOT_PWM_FREQ, MOT_PWM_RES, MOT_PWM_STOP, MOT_PWM_MIN, MOT_PWM_MAX.
MOT_PWM_MAX = -1 chooses duty cycle mode for brushed motors (default).
 2026-01-27 08:40:52 +03:00
Oleg Kalachev
7d74f3d5cd Minor docs fixes 2026-01-27 07:21:21 +03:00
Oleg Kalachev
9fd35ba361 Simplify lpf filter code 
Begin with zero instead of the initializing value, as the latter doesn't make much sense in practice, but complicates the code much.
 2026-01-24 09:43:46 +03:00
Oleg Kalachev
ca50f75576 Various minor fixes 2026-01-24 09:34:16 +03:00
Oleg Kalachev
e47a31f981 Fix mavlink parameter set acknowledgement value 
If the parameter is integer the acknowledgement should contain the rounded value.
 2026-01-24 09:32:49 +03:00
Oleg Kalachev
7ad3022798 Add parameter for configuring gyro bias lpf 
+ reset the filter on `reset` command
 2026-01-24 09:31:32 +03:00
Oleg Kalachev
5b654e4d8e Update ESP32-Core to 3.3.6 2026-01-23 02:41:43 +03:00
Oleg Kalachev
cf10ec6161 Update MAVLink-Arduino to 2.0.16 2026-01-23 01:11:35 +03:00
Oleg Kalachev
6d01cd2e79 Make failsafe configurable using parameters 
SF_RC_LOSS_TIME - time without rc to activate failsafe.
SD_DESCEND_TIME - total time to decrease the throttle to zero.
Make controlTime nan on the start to simplify the logic.
 2026-01-22 23:57:52 +03:00
Oleg Kalachev
0abb18c616 Make parameter names case-insensitive 
+ minor fix
 2026-01-22 23:11:47 +03:00
Oleg Kalachev
30326a5662 Add parameters for configuring the mavlink subsystem 
MAV_SYS_ID - mavlink system id.
MAV_RATE_SLOW - rate of slow telemetry (e. g. heartbeats).
MAV_RATE_FAST - rate of fast telemetry (e. g. attitude, imu data).
 2026-01-22 23:04:45 +03:00
Oleg Kalachev
dd3575174b Add wifi configuration using parameters and cli 
Add console commands to setup wifi.
Add a parameter for choosing between STA and AP mode.
Add parameters for udp ports.
Remove WIFI_ENABLED macro.
 2026-01-22 22:58:43 +03:00
Oleg Kalachev
c0f3301da4 Support integer parameters in addition to floats 
The variable pointer is stored as a union field.
If `.integer` field is true, then integer pointer should be used.
Interfaces to parameters (cli and mavlink) keep working using floats.
Setting a non-finite value to int parameter will cause an error.
`.value` field is renamed to `.cache`.
 2026-01-22 22:54:05 +03:00
a.golubtsov
a6bad3a69b Add log dir creation before log writing 2026-01-22 17:56:23 +03:00
Oleg Kalachev
9a9bd07251 Add correct attitude estimation video to the usage article 2026-01-15 23:46:23 +03:00
Oleg Kalachev
28f5855a57 Re-arrange control.ino declarations to make a bit more sensible 
So the control command is above the PID controllers.
 2026-01-13 17:43:53 +03:00
Oleg Kalachev
7e24ee30f7 Documentation and book updates 
Improve the main list of features.
Use lowercase imu variable for consistency with the firmware code.
Minor fixes.
 2026-01-13 17:26:40 +03:00
Oleg Kalachev
2a8faf5759 Fix logo svg slightly 2026-01-08 19:45:08 +03:00
Oleg Kalachev
f4e58a652a Add project logo v1.2 2026-01-08 17:58:59 +03:00
Oleg Kalachev
6c46328da1 Minor doc fixes 2026-01-04 15:01:53 +03:00
Oleg Kalachev
c8e5e08b03 Move all global variable declarations to the appropriate subsystems 
As it makes the subsystems code easier to understand.
Declare the most used variables in main sketch file as forward declarations.
Make all control input zero by default (except controlMode).
Minor changes.
 2026-01-03 13:28:18 +03:00
Oleg Kalachev
a5e3dfcf69 Some updates to the docs 2026-01-03 12:18:47 +03:00
Oleg Kalachev
d6e8be0c05 Add parameters for easier IMU orientation definition 2025-12-26 21:14:15 +03:00
Oleg Kalachev
68d16855df Add motors rotation diagram to usage article 2025-12-25 07:22:09 +03:00
Oleg Kalachev
0547ea548b Add parameters for acc weight and rates lpf alpha 2025-12-24 05:43:55 +03:00
Oleg Kalachev
c02dba6812 Rename gyroCalibrationFilter to gyroBiasFilter 
Which seems a better name
 2025-12-24 05:36:43 +03:00
Oleg Kalachev
f1dc4a0400 Updates to user builds article 2025-12-17 02:21:51 +03:00
Oleg Kalachev
158827ac55 Add new user builds, add school 548 course overview 
+ minor doc fixes.
 2025-12-13 21:09:33 +03:00
Oleg Kalachev
36ca30c3e4 Minor docs fix 2025-11-27 18:34:32 +03:00
Oleg Kalachev
48711b55e1 Add tip about CNT_TILT_MAX parameter to the simulator article 2025-11-26 17:34:08 +03:00
Oleg Kalachev
4d583185a9 Rename manual mode to raw mode 
Make it callable from the console.
Increase the coefficient.
Corresponding change in pyflix.
pyflix@0.11.
 2025-11-25 04:44:16 +03:00
Oleg Kalachev
d757ffa853 Move yaw dead zone handling from mavlink to control subsystem 
So yaw dead zone works the same for rc and mavlink.
 2025-11-22 05:11:46 +03:00
Oleg Kalachev
5352386486 Minor updates to pyflix library, pyflix@0.10 
Fixes to documentation.
Improve logger format.
 2025-11-22 05:07:46 +03:00
Oleg Kalachev
9b5872740f Add wifi cli command 
To show wi-fi info.
 2025-11-22 04:46:54 +03:00
Oleg Kalachev
31dbdaf241 Group control parameters 
Also add IMU group to accelerometer calibration parameters.
 2025-11-19 01:50:46 +03:00
Oleg Kalachev
f4b56262b1 Remove unneeded SERIAL_BAUDRATE define 2025-11-14 20:23:15 +03:00
Oleg Kalachev
49039f752d Refactor Wi-Fi log download 
Use MAVLink LOG_REQUEST_DATA and LOG_DATA for download log instead of console.
Make Wi-Fi download default way of downloading the log.
Make `log` command only print the header and `log dump` dump the log.
 2025-11-14 20:21:05 +03:00
Oleg Kalachev
348721acc9 Updates in documentation 
Fixes, updates, new illustrations.
 2025-11-10 20:16:14 +03:00
Oleg Kalachev
774144c430 Many updates to documentation 
Updates to main readme.
Add much more info to usage article.
Move simulator building to simulation's readme.
Improve assembly article.
Many fixes.
Updates in diagrams.
 2025-11-06 13:55:52 +03:00
Oleg Kalachev
0e6651ab82 Add Rate class for running the code at fixed rate 2025-11-06 13:41:33 +03:00
Oleg Kalachev
1a017ccb97 Keep only one floating point version of map function 
Two variants are redundant
 2025-11-02 00:02:28 +03:00
Oleg Kalachev
7170b20d1d Simplify command for command handling 2025-10-21 19:41:10 +03:00
Oleg Kalachev
dc9aed113b Minor code fixes 2025-10-21 19:41:05 +03:00
Oleg Kalachev
08b6123eb7 Fixes to troubleshooting 2025-10-21 19:40:54 +03:00
Oleg Kalachev
1a8b63ee04 Send only mavlink heartbeats until connected 2025-10-21 19:39:17 +03:00
Oleg Kalachev
8c49a40516 Skip attitude/rate control if thrustTarget is ineffective 
To prevent i term windup.
 2025-10-20 23:01:17 +03:00
Oleg Kalachev
ca595edce5 Refactor PID control to simplify the code and modifications 
Each PID uses its internal dt, so may be various contexts with different rate.
PID has max dt, so no need to reset explicitly.
 2025-10-20 22:54:18 +03:00
KiraFlux
d06eb2a1aa Quaternion::fromBetweenVectors: pass u and v as const references (#21) 2025-10-19 20:46:46 +03:00
Oleg Kalachev
e50a9d5fea Revert t variable type to float instead of double 
For the sake of simplicity and consistency.
 2025-10-19 20:46:38 +03:00
Oleg Kalachev
ebac78dc0f Minor change 2025-10-19 20:46:26 +03:00