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Author SHA1 Message Date
Oleg Kalachev 52b74afba6 Bring back espnow tx buffering keeping resends disabled 
Buffering is needed for sending large prints, otherwise the espnow internal buffer overflows.
Make onSent always think there was success send, so there won't be any resends.
Print lost espnow packets count on wifi console command.
 2026-06-09 03:23:30 +03:00
Oleg Kalachev 0ca2473655 Make each mavlink message rate configured separately 
Add parameters:
* MAV_RATE_ATT - ATTITUDE_QUATERNION rate.
* MAV_RATE_RC - RC_CHANNELS_RAW rate.
* MAV_RATE_MOT - ACTUATOR_CONTROL_TARGET rate.
* MAV_RATE_IMU - SCALED_IMU rate.
 2026-06-09 02:59:10 +03:00
Oleg Kalachev b4c2fe3988 Print total RAM in sys command 2026-06-09 02:49:39 +03:00
Oleg Kalachev e51b47b798 Add command for setting the wifi mode easier 2026-06-09 02:44:09 +03:00
Oleg Kalachev 71abe1bcdb Minor changes 
Simplify the code, print imu temperature
 2026-06-09 02:25:20 +03:00
Oleg Kalachev 0f2e384ce6 Don't apply level correction on idle thrust 2026-06-09 02:12:27 +03:00
Oleg Kalachev 5e153a210d Update ESP32-Core to 3.3.10 2026-06-09 02:05:52 +03:00
Oleg Kalachev 9d47bcb82e Minor changes in docs 2026-05-31 18:10:00 +03:00
Oleg Kalachev 1fafc27b39 Make it possible to unassign motor pin using -1 parameter value 2026-05-30 16:57:27 +03:00
Oleg Kalachev faca48ced3 Replace ps and psq commands with st command + minor changes 
Re-arrange commands order.
Make command parser consider \r in addition to \n.
 2026-05-30 16:51:15 +03:00
Oleg Kalachev a5dbd2c829 Add erase command to makefile 2026-05-30 16:48:12 +03:00
Oleg Kalachev 59f9528d34 Increase buffer for print, make sys output more correct 
usStackHighWaterMark is not stack size, it's the minimum stack size
 2026-05-30 11:11:35 +03:00
Oleg Kalachev 607b2ff0b7 Add malagis custom pcb version of Flix project to builds 2026-05-28 20:15:09 +03:00
Oleg Kalachev 22c06f76c4 Add Awab Anas' build 2026-05-28 19:29:05 +03:00
Oleg Kalachev 488ceb3004 Set the debug level to error by default to see the errors 2026-05-28 19:25:29 +03:00
Oleg Kalachev b83c9b3845 Consider mavlink connected only when the gcs message is parsed 2026-05-28 18:41:34 +03:00
Oleg Kalachev 2f4b1423e6 Typo and minor code style changes 2026-05-28 18:39:44 +03:00
Oleg Kalachev 4e32414dae Support ESP-NOW connection in pyflix 
Set arbitrary pymavlink connection string using device parameter or FLIX_DEVICE env variable.
pyflix@0.16.
 2026-05-28 18:22:16 +03:00
Oleg Kalachev a294883dea Make p command show all parameters starting with the arg 2026-05-27 13:58:51 +03:00
Oleg Kalachev cdfba72a0b Fix simulator run 
Add missing extern variables.
Fix warning.
 2026-05-27 11:03:50 +03:00
Oleg Kalachev 18e81720e0 Add video of pcb version flights to the readme 2026-05-26 14:23:56 +03:00
Oleg Kalachev 91173d06c9 Various minor changes 2026-05-22 08:03:46 +03:00
Oleg KalachevandGitHub fdcc9533b3 Implement ESP-NOW support (#40) 2026-05-21 10:48:31 +03:00
Oleg Kalachev bd2b1bd5de Improve voltage measurement 
Apply PWM_VOLT_PIN without reboot.
Check if the voltage pin can be used with ADC when setting up.
Set voltage to NAN, when it's unknown (including pyflix).
pyflix@0.15.
Don't send BATTERY_STATUS when voltage is unknown.
Add dummy voltage to the simulator.
 2026-05-18 00:30:42 +03:00
Oleg Kalachev 4530c05b5c Add Flix 1.5 to builds 2026-05-17 06:46:11 +03:00
Oleg Kalachev 3816ae376f Bring back initializing the lpf with the first input value 
It's much better for voltage measuring and slightly better for gyro bias estimation.
 2026-05-17 06:21:13 +03:00
Oleg Kalachev 72a72fde80 Some docs improvements 2026-05-14 21:59:15 +03:00
Oleg Kalachev e53051a349 Fix console command parsing 2026-05-13 06:00:51 +03:00
Oleg Kalachev f8a9f1f838 Remove reboot requirement when changing RC_RX_PIN 2026-05-13 01:27:01 +03:00
Oleg Kalachev 76af83fc88 Improve firmware overview article 2026-05-13 00:35:43 +03:00
Oleg Kalachev dd176180a7 Update help message 
Remove 'welcome to', add copyright and repo link.
 2026-05-12 17:50:28 +03:00
Oleg Kalachev 48c33c7050 Fix and improve wifi subsystem 
Fix a fault when wifi is disabled (udp can't be used without wifi).
Print RSSI and channel in wifi command.
 2026-05-10 22:39:34 +03:00
Oleg Kalachev 35e94f6ea6 Support ESP32-C3 
User Serial1 for rc instead of Serial2, as ESP32-C3 has only 2 Serials.
Add CI build for ESP32-C3.
 2026-05-10 21:07:20 +03:00
Oleg Kalachev 1f48e379e3 Improve the rc calibration code 
More convenient steps order.
Improve the readability a bit.
 2026-05-10 19:05:27 +03:00
Oleg Kalachev ee3c6999ab Add mavlink joystick app usage to the docs 2026-05-10 14:50:27 +03:00
Oleg Kalachev 34c6993842 Some fixes in the docs 2026-05-10 02:33:03 +03:00
Oleg Kalachev b62f2f9427 Rename some wifi parameters for better alphabetical sort 2026-05-09 17:55:55 +03:00
Oleg KalachevandMarina Tikhomirova 7dfef17165 Add Ina Tix' build 
Co-authored-by: Marina Tikhomirova <Ina.tix@yandex.ru>
 2026-05-09 17:49:59 +03:00
Oleg Kalachev 8c8046676b Simplify port definition in Makefile 2026-05-09 17:14:29 +03:00
Oleg Kalachev 702ec9792e Some updates in troubleshooting article 2026-05-09 15:57:25 +03:00
Oleg Kalachev 06e2047097 Make motor testing signal 0.2 instead of full power 
Testing with full power is too dangerous and inconvenient.
 2026-05-08 00:53:19 +03:00
Oleg Kalachev 87480476c2 Fix motors pwm frequency for esp32s3 etc in the docs 2026-05-08 00:47:29 +03:00
Oleg Kalachev 68271c508c Print firmware build date and time in sys command 2026-05-08 00:31:51 +03:00
Oleg Kalachev e81e84e7fc Some updates to docs 2026-05-07 20:15:55 +03:00
Oleg Kalachev 5f1a938d4f Fix imu rotation definition 
The X axis should be pointing to the mounting holes, not pins side.
 2026-05-07 19:54:16 +03:00
Oleg Kalachev bd270db493 Reduce angle drift by adding level correction to the estimator 
Leverage a priori knowledge that the drone's average attitude is level.
Explanation: https://t.me/opensourcequadcopter/158.
 2026-05-05 21:27:47 +03:00
Oleg Kalachev dbf24ea611 Expose lpf alpha of rate pids to parameters 
Add parameters: CTL_R_RATE_D_A, CTL_P_RATE_D_A, CTL_Y_RATE_D_A.
 2026-05-03 15:04:16 +03:00
Oleg Kalachev 08683d696d Some updates in the usage doc 2026-05-01 15:26:59 +03:00
Oleg Kalachev 9ca6841558 Exit auto mode when sticks moved only when mode switch is not configured 2026-04-29 15:07:44 +03:00
Oleg Kalachev 28da2d3c8e Fix in pyflix documentation 
pyflix@0.14
 2026-04-28 20:46:49 +03:00
Oleg Kalachev c6632ae6e4 Add info on setting flight modes using rc mode switch 2026-04-28 20:43:52 +03:00
Oleg Kalachev 35ca754583 Fix Vector::rotationVectorBetween implementation for parallel vectors 2026-04-28 15:38:52 +03:00
Oleg Kalachev 2ccda03573 Implement motors output desaturation 
So the drone continues stabilization on max thrust.
 2026-04-28 13:23:42 +03:00
Oleg Kalachev 485a39e740 Disable wi-fi power save to improve responsiveness 2026-04-27 16:46:36 +03:00
Oleg Kalachev 9bffe5b52f Some fixes in docs 2026-04-26 06:05:02 +03:00
Oleg Kalachev d6a79d6c66 Pass acc data in mG in SCALED_IMU to comply with mavlink standard 
https://mavlink.io/en/messages/common.html#SCALED_IMU
pyflix@0.13
 2026-04-24 07:42:39 +03:00
Oleg Kalachev 350a82bfed Minor fix 2026-04-23 15:34:54 +03:00
Oleg Kalachev 6e439859bc Move disabling brown-out code to power subsystem 2026-04-23 15:06:07 +03:00
Oleg Kalachev 835b2243e8 Minor fix in sys command 
String works with printf %s, but actually it's a UB.
 2026-04-23 07:25:59 +03:00
Oleg Kalachev ed4e2d87d1 Fix imu command output 
Gyro field contained filtered gyro instead of scaled only gyro.
 2026-04-23 07:12:25 +03:00
Oleg Kalachev 51cd5fc691 Implement battery voltage monitoring 
Add power subsystem.
Add PWR_VOLT_PIN, PWR_VOLT_SCALE, PWR_VOLT_LPF_A parameters.
Support BATTERY_STATUS mavlink messages streaming.
Add pw cli command.
Add voltage field to pyflix library.
pyflix@0.12.
 2026-04-22 11:35:37 +03:00
Oleg Kalachev d8591ea2a9 Fix working with parameters in pyflix examples 
PITCH_P parameter was renamed to CTL_P_P
 2026-04-18 05:23:47 +03:00
Oleg Kalachev c434107eaf Add parameter for configuring sbus pin number, disable sbus by default 2026-03-27 00:56:34 +03:00
Oleg Kalachev 814427dbfd Minor docs change 2026-03-27 00:40:19 +03:00
Oleg Kalachev 0730ceeffa Add new user builds 2026-02-21 07:12:36 +03:00
Oleg Kalachev a687303062 Make motor parameters apply without reboot 
Add callback to parameter definition to call after parameter is changed.
 2026-02-19 04:56:12 +03:00
Oleg Kalachev b2daf2587f Minor parameters code simplifications 
readOnly is false by default
INFINITY == INFINITY, so remove redundant check
 2026-02-19 02:59:38 +03:00
Oleg Kalachev a8c25d8ac0 Minor updates to usage article 2026-02-04 17:52:23 +03:00
Oleg Kalachev 3e49d41986 Make rc channel numbers and calibration params use int instead of float 
As parameter subsystems supports int now, and int is much more natural here.
 2026-02-02 20:36:22 +03:00
Oleg Kalachev 67430c7aac Several minor changes 2026-02-02 18:46:36 +03:00
Oleg Kalachev 3631743a29 Drop messages from another systems in pyflix 
We shouldn't pass messages where system id != our system id. 
This change may be useful when there are many drones in one network.
 2026-02-02 18:28:20 +03:00
Oleg Kalachev 3dde380bb7 Add parameters for list of modes bound to rc switch 
Parameters: CTL_FLT_MODE_0, CTL_FLT_MODE_1, CTL_FLT_MODE_2.
Also fix a bug with incorrect choosing the mode from controlMode.
 2026-01-27 16:38:20 +03:00
Oleg Kalachev 377b21429b Fix error when launching the sim 
Also make the parameters WIFI_LOC_PORT and WIFI_REM_PORT work in the sim.
 2026-01-27 16:32:52 +03:00
Oleg Kalachev 1ac443d6f8 Add a build by Arky Matsekh 2026-01-27 15:17:58 +03:00
Oleg Kalachev 964c0f7bc1 Make setting parameter in console printing actual parameter value. 
In some cases, it would not be equal to the requested value.
 2026-01-27 09:28:01 +03:00
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
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 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