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Author SHA1 Message Date
Oleg Kalachev 70f5186c1b Use double for storing time instead of float 
Float precision may be not enough after some time of operating
 2025-01-12 19:58:36 +03:00
Oleg Kalachev d4e04c46cd Add time command to cli 2025-01-12 19:50:00 +03:00
Oleg Kalachev 48d21a911f Add missing const qualifiers 2025-01-12 19:46:50 +03:00
Oleg Kalachev f456e10177 Increase motors PWM frequency to 1000 
To match the main loop frequency
 2025-01-12 15:35:05 +03:00
Oleg Kalachev ac54c954aa Cleanup 2025-01-11 04:31:53 +03:00
Oleg Kalachev 9e4a2c5ffc Move controlsTime variable to rc.ino 2025-01-11 00:28:31 +03:00
Oleg Kalachev 7bf5ee330b Add link to contributed circuit diagram to readme 2025-01-10 10:52:31 +03:00
Oleg Kalachev b9e30be98c Better support for ESCs, add PWM_STOP parameter 2025-01-10 10:49:40 +03:00
Oleg Kalachev 821e6b105e Make channels definition to rc.ino 
It's also planned to parametrize them later
 2025-01-10 09:37:48 +03:00
Oleg Kalachev 568f9dd5b1 Minor code improvements 2025-01-10 08:59:09 +03:00
Oleg Kalachev 698cc3d9b8 Global variables cleanups 
Remove unused PID objects for cli
Move loopRate to time.ino
 2025-01-10 07:10:30 +03:00
Oleg Kalachev 85172cdcc8 Make util module header instead of .ino-file 2025-01-10 06:51:14 +03:00
Oleg Kalachev 08b14d1d76 Minor cleanup 2025-01-10 06:04:32 +03:00
Oleg Kalachev 95824e3b75 Make max tilt and max angle rates MAVLink parameters 
Also decrease default max yaw rate to 300 degrees
 2025-01-10 06:00:06 +03:00
Oleg Kalachev 0a45614751 Move motorsActive function to motors.ino 2025-01-09 11:30:04 +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 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