 Oleg Kalachev
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7516279132
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Add requirements.txt for tools
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2024-05-10 22:28:42 +03:00 |
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Oleg Kalachev
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a383c83a29
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Minor update to .editorconfig
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2024-05-02 21:22:13 +03:00 |
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Oleg Kalachev
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6392c4a97a
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Update dataflow diagram to reflect newly introduced gyro variable
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2024-05-01 02:35:30 +03:00 |
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Oleg Kalachev
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cfb2e60310
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Add correct rules to yml files editor config
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2024-05-01 02:33:44 +03:00 |
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Oleg Kalachev
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41a9a95747
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Transfer gyro low pass filter to estimate.ino
Separate raw gyro data and filtered rates to different variables
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2024-04-20 14:52:01 +03:00 |
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Oleg Kalachev
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24e8569905
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Make Vector methods arguments more consistent
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2024-04-20 10:57:32 +03:00 |
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Oleg Kalachev
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fb80b899e0
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Refine Gazebo installation instructions for macOS
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2024-04-09 02:45:21 +03:00 |
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Oleg Kalachev
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d095b81d7e
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Print out loop frequency on imu command
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2024-04-02 22:28:02 +03:00 |
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Oleg Kalachev
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28a6bf2230
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Add info about motors testing commands to intro message
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2024-03-30 18:23:42 +03:00 |
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Oleg Kalachev
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fff7262d1b
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Minor fix for SBUS dummy for simulator
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2024-03-23 09:20:08 +03:00 |
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Oleg Kalachev
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646fa46f6b
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Use FlixPeriph library for SBUS
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2024-03-17 02:29:37 +03:00 |
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Oleg Kalachev
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f782f647cb
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Correctly restore IMU settings after accel calibration
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2024-03-15 13:26:59 +03:00 |
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Oleg Kalachev
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32f29dc1a4
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Use default SPI CS pin for IMU
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2024-03-15 13:14:28 +03:00 |
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Oleg Kalachev
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2cf1c7abb3
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Use FlixPeriph library for IMU, implement own IMU calibration
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2024-03-15 10:38:48 +03:00 |
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Oleg Kalachev
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d752cce0cc
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Fix accel calibration upside down wait time
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2024-03-12 00:36:53 +03:00 |
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Oleg Kalachev
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aeec8e34eb
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Add auto-center throttle setting notice to QGC usage documentation
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2024-03-03 21:08:43 +03:00 |
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Oleg Kalachev
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34a81536c2
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Fix reverse motors pwm
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2024-03-02 15:37:38 +03:00 |
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Oleg Kalachev
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1c9b10a674
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Use default recommended chip-select pin (GPIO5) for SPI
Update link to the schematics #3 to the most recent version
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2024-02-24 15:28:41 +03:00 |
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Oleg Kalachev
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ab2f99ab59
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Simplify making user modes for control, add USER mode
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2024-02-22 03:09:12 +03:00 |
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Oleg Kalachev
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5b6ef9c50e
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Add warning about shaft diameter for the motors
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2024-02-21 18:24:35 +03:00 |
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Oleg Kalachev
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5ec6b5e665
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Make fromEulerZYX accept Vector instead of x, y, z
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2024-02-20 04:51:59 +03:00 |
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Oleg Kalachev
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85182ac2b8
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Use more correct implementation of toEulerZYX fixing some yaw issues
We actually need to use Tait–Bryan Z-Y-X angles, not classic Euler's
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2024-02-20 04:47:13 +03:00 |
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Oleg Kalachev
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455729fdb4
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Improve log download: remove empty records, sort by timestamp
To make Plotjuggler not to warn about unsorted records everytime
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2024-02-18 01:23:33 +03:00 |
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Oleg Kalachev
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4eec63adfa
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Add info about input group for joystick usage in building instructions
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2024-02-17 22:17:27 +03:00 |
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Oleg Kalachev
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e0db3bee38
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Read mode stick using axis read in simulation
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2024-02-16 01:13:32 +03:00 |
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Oleg Kalachev
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bf803cf345
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Display MAVLink remote port in simulator
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2024-02-10 14:12:09 +03:00 |
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Oleg Kalachev
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33319db1fa
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Make rates LPF cut-off frequency equal to 40 Hz
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2024-02-07 10:49:31 +03:00 |
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Oleg Kalachev
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ba6e63b50b
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Correctly set output parameters of simulated SBUS::read, minor name fix
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2024-02-06 21:02:20 +03:00 |
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Oleg Kalachev
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410fccf015
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Fix vector, quaternion, pid and lpf libraries curly braces code style
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2024-02-06 13:50:56 +03:00 |
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Oleg Kalachev
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31d382dd86
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Simplify motors pwm calculation using unified value for all motors
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2024-02-06 10:49:48 +03:00 |
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Oleg Kalachev
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0661aecccf
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Remove unneeded INVERT_SERIAL define
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2024-02-04 14:42:57 +03:00 |
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Oleg Kalachev
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0f83e8ed80
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Add info on how to control the simulated drone to build instructions
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2024-01-31 17:20:59 +03:00 |
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Oleg Kalachev
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f718af7f0e
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Support MAVLink usage in simulation
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2024-01-31 12:10:18 +03:00 |
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Oleg Kalachev
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4850b95029
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Add a readme to gazebo directory
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2024-01-31 12:07:37 +03:00 |
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Oleg Kalachev
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2694f68b87
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Add yaw dead zone in mavlink control
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2024-01-31 12:05:49 +03:00 |
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Oleg Kalachev
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033e74a375
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Minor code cleanups
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2024-01-31 12:05:25 +03:00 |
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Oleg Kalachev
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a24f039f1d
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Fix RC_CHANNELS_SCALED inactive channel values
They should be INT16_MAX not UINT16_MAX
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2024-01-31 12:04:44 +03:00 |
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Oleg Kalachev
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6b52ad562b
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Minor const clarification
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2024-01-31 12:00:23 +03:00 |
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Oleg Kalachev
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69cfc9e5fa
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Utilize internal ESP32 UART invertor for SBUS
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2024-01-26 13:46:13 +03:00 |
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Oleg Kalachev
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1b54b3fa25
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Enable macOS build
https://github.com/osrf/homebrew-simulation/pull/2526#issuecomment-1904384070
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2024-01-26 13:16:17 +03:00 |
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Oleg Kalachev
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f794da916d
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Disable macos build for now as it takes too long to execute
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2024-01-19 05:29:52 +03:00 |
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Oleg Kalachev
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ed6d09061b
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Rename RC_CHANNEL_AUX to RC_CHANNEL_ARMED
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2024-01-19 05:19:41 +03:00 |
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Oleg Kalachev
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26a028ff66
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Use only STAB mode by default
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2024-01-19 05:16:44 +03:00 |
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Oleg Kalachev
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2d365dcffe
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Minor fixes
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2024-01-19 05:14:12 +03:00 |
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Oleg Kalachev
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c22961e5ff
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Don't calibrate gyro on start since MPU9250 library does that on begin
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2024-01-19 05:05:49 +03:00 |
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Oleg Kalachev
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9ad718cb85
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Fix macOS build
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2024-01-19 05:04:40 +03:00 |
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Oleg Kalachev
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172f6b173a
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MAVLink input support (control using mobile phone)
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2024-01-17 15:39:40 +03:00 |
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Oleg Kalachev
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8e629e3eea
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Minor cleanups
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2024-01-17 15:20:38 +03:00 |
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Oleg Kalachev
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482bb8ed71
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Disable ESP32 reset on low voltage
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2024-01-17 15:18:11 +03:00 |
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Oleg Kalachev
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4ec6ff3f37
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Update main schematics diagram
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2024-01-14 17:07:49 +03:00 |
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Oleg Kalachev
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9ed41e50a1
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Fix actuator_output mavlink message generation
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2024-01-13 22:53:30 +03:00 |
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Oleg Kalachev
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344835cba8
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Add firmware overview article
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2024-01-13 14:08:02 +03:00 |
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Oleg Kalachev
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654badd097
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Fix macos simulator build
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2024-01-12 18:34:05 +03:00 |
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Oleg Kalachev
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a8cd72e654
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Add dataflow diagram to images
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2024-01-12 00:44:01 +03:00 |
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Oleg Kalachev
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f4aaf0f4f3
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Use radians macro, minor change
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2024-01-12 00:43:52 +03:00 |
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Oleg Kalachev
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1ed05a94dd
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Minor code cleanups
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2024-01-08 22:33:11 +03:00 |
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Oleg Kalachev
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e1e747969b
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Add .gitattributes so linguist would detect languages correctly
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2024-01-06 14:41:24 +03:00 |
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Oleg Kalachev
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48ea797a47
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Make simulator read RC through real drone code
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2024-01-06 00:09:29 +03:00 |
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Oleg Kalachev
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476f24f774
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Clarify rates control code
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2024-01-06 00:08:30 +03:00 |
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Oleg Kalachev
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7a62229125
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Minor cleanups
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2024-01-05 15:11:07 +03:00 |
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Oleg Kalachev
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e7864b1e55
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#2 Use official MPU9250 library 1.0.2
The release was fixed https://github.com/bolderflight/invensense-imu/issues/123
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2024-01-05 14:25:19 +03:00 |
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Oleg Kalachev
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f72745a2e7
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Add a link to full circuit diagram variant to readme #3
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2024-01-04 23:32:17 +03:00 |
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Oleg Kalachev
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317ecc95cc
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Update libraries index before installing libraries
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2024-01-04 19:35:55 +03:00 |
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Oleg Kalachev
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d3700d5784
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Add note to readme that SBUS inverter is actually not needed
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2024-01-04 18:14:13 +03:00 |
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Oleg Kalachev
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d84ed99996
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Loose port detection wildcard to catch both CP2102 and CP2104 USB-UART bridges
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2024-01-04 15:49:43 +03:00 |
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Oleg Kalachev
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82f3ab563a
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#1 - use MAVLink Arduino library
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2024-01-04 12:57:15 +03:00 |
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Oleg Kalachev
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2fbebe102e
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Define ESP32 Dev Module LED pin
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2024-01-03 16:09:43 +03:00 |
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Oleg Kalachev
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fe7c06666f
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Enchase building instructions for Arduino IDE
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2024-01-03 15:36:16 +03:00 |
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Oleg Kalachev
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f520b57abe
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Implement RC calibration, common for the real drone and the simulation
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2024-01-02 11:54:09 +03:00 |
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Oleg Kalachev
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78f3f6e3b3
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More simulation code minor updates
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2023-12-29 19:10:37 +03:00 |
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Oleg Kalachev
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46ba00fca7
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Add forgotten file
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2023-12-29 18:56:32 +03:00 |
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Oleg Kalachev
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d2296fea76
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Change C++ code style: put curly brace on the same line
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2023-12-29 18:56:25 +03:00 |
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Oleg Kalachev
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645b148564
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Cleanup simulation code, remove debug model showing current attitude estimation
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2023-12-29 18:45:19 +03:00 |
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Oleg Kalachev
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3207fdb43c
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Minor changes
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2023-12-29 18:43:34 +03:00 |
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Oleg Kalachev
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c58a16e4df
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More clear file name for simulation plugin, cleanup in CMakeLists
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2023-12-29 13:33:03 +03:00 |
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Oleg Kalachev
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adeea474c6
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Some updates to build instructions
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2023-12-28 13:25:51 +03:00 |
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Oleg Kalachev
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fc006d43e2
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Fix cmake warning
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2023-12-22 02:35:28 +03:00 |
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Oleg Kalachev
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776967038c
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Remove unused make target
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2023-12-21 00:43:02 +03:00 |
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Oleg Kalachev
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93bfc5d258
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Fix macos build
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2023-12-20 12:30:53 +03:00 |
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Oleg Kalachev
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d73cfe0c59
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Update readme
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2023-12-20 09:58:25 +03:00 |
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Oleg Kalachev
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343935f98c
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Minor fixes
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2023-12-19 22:00:30 +03:00 |
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Oleg Kalachev
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886e592a20
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Enable building simulator for macOS on push
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2023-12-19 13:21:25 +03:00 |
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Oleg Kalachev
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b278d7cfc1
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Add introduction video to readme
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2023-12-19 13:12:05 +03:00 |
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Oleg Kalachev
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189eac95ef
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Enable gyro calibration on the start
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2023-12-19 11:36:27 +03:00 |
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Oleg Kalachev
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fde9c1cf36
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Minor changes and cleanups
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2023-12-19 05:25:57 +03:00 |
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Oleg Kalachev
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77dd02dbeb
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Make components table smaller, fixes
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2023-12-19 05:13:15 +03:00 |
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Oleg Kalachev
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c3cdb58070
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Remove non-existent file include
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2023-12-19 05:11:22 +03:00 |
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Oleg Kalachev
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ab43ebf7b6
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Update readme, add building instructions
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2023-12-19 05:09:48 +03:00 |
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Oleg Kalachev
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a174d5cd7d
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Headers cleanups
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2023-12-19 05:06:19 +03:00 |
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Oleg Kalachev
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d3e7291197
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Guard for angleBetweenVectors function to ensure it doesn't return NaN
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2023-12-19 04:58:20 +03:00 |
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Oleg Kalachev
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fcd695fdd7
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Apply LPF to Gazebo's accel data to remove collision detector glitches, minor cleanups
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2023-12-19 04:49:36 +03:00 |
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Oleg Kalachev
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57e83040b8
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Apply accelerometer in estimation only when we're landed and stable
Accelerometer gives only motors specific force in flight, which makes
it useless to determine the current vertial
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2023-12-19 04:46:59 +03:00 |
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Oleg Kalachev
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415f0e9ad5
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Use model name as topics namespace in simulation
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2023-12-15 10:03:07 +03:00 |
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Oleg Kalachev
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a9bcec2fa5
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Main sdf cleanups, minor fix
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2023-12-15 09:43:54 +03:00 |
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Oleg Kalachev
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f118bca6d1
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Correctly fill armed field in heartbeat mavlink message
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2023-12-15 09:35:54 +03:00 |
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Oleg Kalachev
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32d69cb4a0
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Main world file fixes and cleanups, temporarily remove the table
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2023-12-15 09:35:09 +03:00 |
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Oleg Kalachev
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d3e715ae53
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Quaternion library cleanups and code style
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2023-12-13 08:42:03 +03:00 |
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Oleg Kalachev
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997af183f0
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Implement lacking vector division operator
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2023-12-13 08:38:26 +03:00 |
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Oleg Kalachev
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2c21114540
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Refactor control, remake controlManual to controlTorque
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2023-12-13 08:33:35 +03:00 |
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Oleg Kalachev
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4fcf2109ce
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Simplify code using angularRatesBetweenVectors
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2023-12-13 08:25:11 +03:00 |
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