Oleg Kalachev
dc09459613
Add generic Delay filter
2025-10-17 19:19:27 +03:00
Oleg Kalachev
59c9ea8cb3
Lowercase imu and rc variables
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To make it more obvious these are variables, not classes.
2025-10-17 19:02:46 +03:00
Oleg Kalachev
bf9eeb90a4
Include FlixPeriph header instead of MPU9250
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This simplifies choosing IMU model
2025-10-07 08:41:56 +03:00
Oleg Kalachev
96836b2e3e
Ensure showing correct raw data in imu command
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Some IMUs will reset acc and gyro buffer on whoAmI() call
2025-10-07 08:41:56 +03:00
Oleg Kalachev
a1539157b8
Show raw values in imu command
2025-08-22 17:20:33 +03:00
Oleg Kalachev
6b38070e43
Rename printIMUCal to printIMUCalibration for consistency with rc
2025-07-14 12:04:02 +03:00
Oleg Kalachev
9c8c0e2578
Minor code updates
2025-05-15 09:22:17 +03:00
Oleg Kalachev
965813e8f0
Use interrupts instead of polling for main loop
2025-05-05 13:58:23 +03:00
Oleg Kalachev
4b938e8d89
Make accelerometer calibration more verbose
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Print the number of each calibration step
2025-05-05 00:38:08 +03:00
Oleg Kalachev
66a43ab246
Continuous gyro bias estimation ( #17 )
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Estimate gyro bias continuously instead of calibrating the gyro at startup.
2025-03-29 12:21:40 +03:00
Oleg Kalachev
3a61dca102
Simplify and improve acc calibration command output
2025-03-29 01:05:55 +03:00
Oleg Kalachev
3fdebf39d8
Fix mavlink disconnection in pauses in cli commands
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Implement pause function that proceeds processing mavlink.
Use temporal workaround for simulation, as micros function gives the same result on the same simulation step.
2025-02-28 19:25:41 +03:00
Oleg Kalachev
287a4b5a71
Fix accel calibration via mavlink console
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Add 5 s timeout as waiting for enter is not implemented for mavlink console yet
2025-02-18 13:01:44 +03:00
Oleg Kalachev
d60628e14d
Support MAVLink console
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Implement receiving and sending SERIAL_CONTROL message
Use global defined print function instead of Serial.printf
2025-02-18 10:33:01 +03:00
Oleg Kalachev
e54e0e8c48
Make all the basic functionality work without the imu
2025-02-17 19:44:18 +03:00
Oleg Kalachev
85172cdcc8
Make util module header instead of .ino-file
2025-01-10 06:51:14 +03:00
Oleg Kalachev
c8109af04f
Make ONE_G definition const and move to utils.ino
2025-01-09 11:24:40 +03:00
Oleg Kalachev
c2a9d36d4e
Add small delay before gyro calibration
2025-01-09 10:06:15 +03:00
Oleg Kalachev
e10475a5e0
Some minor cleanups and fixes
2024-12-28 23:57:44 +03:00
Oleg Kalachev
ae349fb73c
Implement parameters subsystem
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* 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
7533a9cbfa
Move ONE_G definition to flix.ino
2024-12-23 02:37:03 +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
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
6327585754
Print accel calibration parameters in more convenient way
2024-11-04 14:37:05 +03:00
Oleg Kalachev
ad2c64625c
Print the IMU information in imu command
2024-10-31 10:24:00 +03:00
Oleg Kalachev
abcc9b96de
Use FLU as the main coordinate system instead of FRD
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Corresponding to the IMU orientation in the new version
2024-10-23 09:30:49 +03:00
Oleg Kalachev
fbe33eac1b
Set gyro limits to 2000 DPS by default
2024-05-24 14:46:38 +03:00
Oleg Kalachev
41a9a95747
Transfer gyro low pass filter to estimate.ino
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Separate raw gyro data and filtered rates to different variables
2024-04-20 14:52:01 +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
1c9b10a674
Use default recommended chip-select pin (GPIO5) for SPI
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Update link to the schematics #3 to the most recent version
2024-02-24 15:28:41 +03:00
Oleg Kalachev
c22961e5ff
Don't calibrate gyro on start since MPU9250 library does that on begin
2024-01-19 05:05:49 +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
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
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
1125335b16
Cleanup, use printf
2023-05-24 11:22:59 +03:00
Oleg Kalachev
82276ddb92
Cleanups
2023-05-24 10:56:59 +03:00
Oleg Kalachev
1019d6d4bb
Code cleanups
2023-05-24 10:28:32 +03:00
Oleg Kalachev
4a045d89a4
Include SPI library to IMU module
2023-04-10 23:37:11 +03:00
Oleg Kalachev
127cd58d16
CALIBRATE_GYRO_ON_START constant
2023-03-26 10:49:43 +03:00
Oleg Kalachev
e039055c8e
Initial commit
2023-03-26 10:23:30 +03:00
