 Oleg Kalachev
|
85182ac2b8
|
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
|
2024-02-20 04:47:13 +03:00 |
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|
Oleg Kalachev
|
455729fdb4
|
Improve log download: remove empty records, sort by timestamp
To make Plotjuggler not to warn about unsorted records everytime
|
2024-02-18 01:23:33 +03:00 |
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|
Oleg Kalachev
|
4eec63adfa
|
Add info about input group for joystick usage in building instructions
|
2024-02-17 22:17:27 +03:00 |
|
|
Oleg Kalachev
|
e0db3bee38
|
Read mode stick using axis read in simulation
|
2024-02-16 01:13:32 +03:00 |
|
|
Oleg Kalachev
|
bf803cf345
|
Display MAVLink remote port in simulator
|
2024-02-10 14:12:09 +03:00 |
|
|
Oleg Kalachev
|
33319db1fa
|
Make rates LPF cut-off frequency equal to 40 Hz
|
2024-02-07 10:49:31 +03:00 |
|
|
Oleg Kalachev
|
ba6e63b50b
|
Correctly set output parameters of simulated SBUS::read, minor name fix
|
2024-02-06 21:02:20 +03:00 |
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|
Oleg Kalachev
|
410fccf015
|
Fix vector, quaternion, pid and lpf libraries curly braces code style
|
2024-02-06 13:50:56 +03:00 |
|
|
Oleg Kalachev
|
31d382dd86
|
Simplify motors pwm calculation using unified value for all motors
|
2024-02-06 10:49:48 +03:00 |
|
|
Oleg Kalachev
|
0661aecccf
|
Remove unneeded INVERT_SERIAL define
|
2024-02-04 14:42:57 +03:00 |
|
|
Oleg Kalachev
|
0f83e8ed80
|
Add info on how to control the simulated drone to build instructions
|
2024-01-31 17:20:59 +03:00 |
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|
Oleg Kalachev
|
f718af7f0e
|
Support MAVLink usage in simulation
|
2024-01-31 12:10:18 +03:00 |
|
|
Oleg Kalachev
|
4850b95029
|
Add a readme to gazebo directory
|
2024-01-31 12:07:37 +03:00 |
|
|
Oleg Kalachev
|
2694f68b87
|
Add yaw dead zone in mavlink control
|
2024-01-31 12:05:49 +03:00 |
|
|
Oleg Kalachev
|
033e74a375
|
Minor code cleanups
|
2024-01-31 12:05:25 +03:00 |
|
|
Oleg Kalachev
|
a24f039f1d
|
Fix RC_CHANNELS_SCALED inactive channel values
They should be INT16_MAX not UINT16_MAX
|
2024-01-31 12:04:44 +03:00 |
|
|
Oleg Kalachev
|
6b52ad562b
|
Minor const clarification
|
2024-01-31 12:00:23 +03:00 |
|
|
Oleg Kalachev
|
69cfc9e5fa
|
Utilize internal ESP32 UART invertor for SBUS
|
2024-01-26 13:46:13 +03:00 |
|
|
Oleg Kalachev
|
1b54b3fa25
|
Enable macOS build
https://github.com/osrf/homebrew-simulation/pull/2526#issuecomment-1904384070
|
2024-01-26 13:16:17 +03:00 |
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|
Oleg Kalachev
|
f794da916d
|
Disable macos build for now as it takes too long to execute
|
2024-01-19 05:29:52 +03:00 |
|
|
Oleg Kalachev
|
ed6d09061b
|
Rename RC_CHANNEL_AUX to RC_CHANNEL_ARMED
|
2024-01-19 05:19:41 +03:00 |
|
|
Oleg Kalachev
|
26a028ff66
|
Use only STAB mode by default
|
2024-01-19 05:16:44 +03:00 |
|
|
Oleg Kalachev
|
2d365dcffe
|
Minor fixes
|
2024-01-19 05:14:12 +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
|
9ad718cb85
|
Fix macOS build
|
2024-01-19 05:04:40 +03:00 |
|
|
Oleg Kalachev
|
172f6b173a
|
MAVLink input support (control using mobile phone)
|
2024-01-17 15:39:40 +03:00 |
|
|
Oleg Kalachev
|
8e629e3eea
|
Minor cleanups
|
2024-01-17 15:20:38 +03:00 |
|
|
Oleg Kalachev
|
482bb8ed71
|
Disable ESP32 reset on low voltage
|
2024-01-17 15:18:11 +03:00 |
|
|
Oleg Kalachev
|
4ec6ff3f37
|
Update main schematics diagram
|
2024-01-14 17:07:49 +03:00 |
|
|
Oleg Kalachev
|
9ed41e50a1
|
Fix actuator_output mavlink message generation
|
2024-01-13 22:53:30 +03:00 |
|
|
Oleg Kalachev
|
344835cba8
|
Add firmware overview article
|
2024-01-13 14:08:02 +03:00 |
|
|
Oleg Kalachev
|
654badd097
|
Fix macos simulator build
|
2024-01-12 18:34:05 +03:00 |
|
|
Oleg Kalachev
|
a8cd72e654
|
Add dataflow diagram to images
|
2024-01-12 00:44:01 +03:00 |
|
|
Oleg Kalachev
|
f4aaf0f4f3
|
Use radians macro, minor change
|
2024-01-12 00:43:52 +03:00 |
|
|
Oleg Kalachev
|
1ed05a94dd
|
Minor code cleanups
|
2024-01-08 22:33:11 +03:00 |
|
|
Oleg Kalachev
|
e1e747969b
|
Add .gitattributes so linguist would detect languages correctly
|
2024-01-06 14:41:24 +03:00 |
|
|
Oleg Kalachev
|
48ea797a47
|
Make simulator read RC through real drone code
|
2024-01-06 00:09:29 +03:00 |
|
|
Oleg Kalachev
|
476f24f774
|
Clarify rates control code
|
2024-01-06 00:08:30 +03:00 |
|
|
Oleg Kalachev
|
7a62229125
|
Minor cleanups
|
2024-01-05 15:11:07 +03:00 |
|
|
Oleg Kalachev
|
e7864b1e55
|
#2 Use official MPU9250 library 1.0.2
The release was fixed https://github.com/bolderflight/invensense-imu/issues/123
|
2024-01-05 14:25:19 +03:00 |
|
|
Oleg Kalachev
|
f72745a2e7
|
Add a link to full circuit diagram variant to readme #3
|
2024-01-04 23:32:17 +03:00 |
|
|
Oleg Kalachev
|
317ecc95cc
|
Update libraries index before installing libraries
|
2024-01-04 19:35:55 +03:00 |
|
|
Oleg Kalachev
|
d3700d5784
|
Add note to readme that SBUS inverter is actually not needed
|
2024-01-04 18:14:13 +03:00 |
|
|
Oleg Kalachev
|
d84ed99996
|
Loose port detection wildcard to catch both CP2102 and CP2104 USB-UART bridges
|
2024-01-04 15:49:43 +03:00 |
|
|
Oleg Kalachev
|
82f3ab563a
|
#1 - use MAVLink Arduino library
|
2024-01-04 12:57:15 +03:00 |
|
|
Oleg Kalachev
|
2fbebe102e
|
Define ESP32 Dev Module LED pin
|
2024-01-03 16:09:43 +03:00 |
|
|
Oleg Kalachev
|
fe7c06666f
|
Enchase building instructions for Arduino IDE
|
2024-01-03 15:36:16 +03:00 |
|
|
Oleg Kalachev
|
f520b57abe
|
Implement RC calibration, common for the real drone and the simulation
|
2024-01-02 11:54:09 +03:00 |
|
|
Oleg Kalachev
|
78f3f6e3b3
|
More simulation code minor updates
|
2023-12-29 19:10:37 +03:00 |
|
|
Oleg Kalachev
|
46ba00fca7
|
Add forgotten file
|
2023-12-29 18:56:32 +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
|
645b148564
|
Cleanup simulation code, remove debug model showing current attitude estimation
|
2023-12-29 18:45:19 +03:00 |
|
|
Oleg Kalachev
|
3207fdb43c
|
Minor changes
|
2023-12-29 18:43:34 +03:00 |
|
|
Oleg Kalachev
|
c58a16e4df
|
More clear file name for simulation plugin, cleanup in CMakeLists
|
2023-12-29 13:33:03 +03:00 |
|
|
Oleg Kalachev
|
adeea474c6
|
Some updates to build instructions
|
2023-12-28 13:25:51 +03:00 |
|
|
Oleg Kalachev
|
fc006d43e2
|
Fix cmake warning
|
2023-12-22 02:35:28 +03:00 |
|
|
Oleg Kalachev
|
776967038c
|
Remove unused make target
|
2023-12-21 00:43:02 +03:00 |
|
|
Oleg Kalachev
|
93bfc5d258
|
Fix macos build
|
2023-12-20 12:30:53 +03:00 |
|
|
Oleg Kalachev
|
d73cfe0c59
|
Update readme
|
2023-12-20 09:58:25 +03:00 |
|
|
Oleg Kalachev
|
343935f98c
|
Minor fixes
|
2023-12-19 22:00:30 +03:00 |
|
|
Oleg Kalachev
|
886e592a20
|
Enable building simulator for macOS on push
|
2023-12-19 13:21:25 +03:00 |
|
|
Oleg Kalachev
|
b278d7cfc1
|
Add introduction video to readme
|
2023-12-19 13:12:05 +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
|
77dd02dbeb
|
Make components table smaller, fixes
|
2023-12-19 05:13:15 +03:00 |
|
|
Oleg Kalachev
|
c3cdb58070
|
Remove non-existent file include
|
2023-12-19 05:11:22 +03:00 |
|
|
Oleg Kalachev
|
ab43ebf7b6
|
Update readme, add building instructions
|
2023-12-19 05:09:48 +03:00 |
|
|
Oleg Kalachev
|
a174d5cd7d
|
Headers cleanups
|
2023-12-19 05:06:19 +03:00 |
|
|
Oleg Kalachev
|
d3e7291197
|
Guard for angleBetweenVectors function to ensure it doesn't return NaN
|
2023-12-19 04:58:20 +03:00 |
|
|
Oleg Kalachev
|
fcd695fdd7
|
Apply LPF to Gazebo's accel data to remove collision detector glitches, minor cleanups
|
2023-12-19 04:49:36 +03:00 |
|
|
Oleg Kalachev
|
57e83040b8
|
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
|
2023-12-19 04:46:59 +03:00 |
|
|
Oleg Kalachev
|
415f0e9ad5
|
Use model name as topics namespace in simulation
|
2023-12-15 10:03:07 +03:00 |
|
|
Oleg Kalachev
|
a9bcec2fa5
|
Main sdf cleanups, minor fix
|
2023-12-15 09:43:54 +03:00 |
|
|
Oleg Kalachev
|
f118bca6d1
|
Correctly fill armed field in heartbeat mavlink message
|
2023-12-15 09:35:54 +03:00 |
|
|
Oleg Kalachev
|
32d69cb4a0
|
Main world file fixes and cleanups, temporarily remove the table
|
2023-12-15 09:35:09 +03:00 |
|
|
Oleg Kalachev
|
d3e715ae53
|
Quaternion library cleanups and code style
|
2023-12-13 08:42:03 +03:00 |
|
|
Oleg Kalachev
|
997af183f0
|
Implement lacking vector division operator
|
2023-12-13 08:38:26 +03:00 |
|
|
Oleg Kalachev
|
2c21114540
|
Refactor control, remake controlManual to controlTorque
|
2023-12-13 08:33:35 +03:00 |
|
|
Oleg Kalachev
|
4fcf2109ce
|
Simplify code using angularRatesBetweenVectors
|
2023-12-13 08:25:11 +03:00 |
|
|
Oleg Kalachev
|
24b62e5145
|
Move controlManual down
|
2023-12-13 08:06:15 +03:00 |
|
|
Oleg Kalachev
|
f37015a97f
|
Temporary remove controlManual to paste it bellow
|
2023-12-13 08:05:44 +03:00 |
|
|
Oleg Kalachev
|
cb27e0f61f
|
Cleanups
|
2023-12-13 07:59:08 +03:00 |
|
|
Oleg Kalachev
|
46579ce8a4
|
Better code for yaw target
|
2023-12-13 07:49:57 +03:00 |
|
|
Oleg Kalachev
|
860db237b7
|
Add reset command to cli
|
2023-12-13 07:48:23 +03:00 |
|
|
Oleg Kalachev
|
2a06155cbe
|
Fix timestamp in mavlink, add imu message, cleanup
|
2023-12-10 05:51:10 +03:00 |
|
|
Oleg Kalachev
|
2df8c608d5
|
Fix mavlink module
|
2023-12-10 03:41:01 +03:00 |
|
|
Oleg Kalachev
|
02aac609ab
|
Fix attitude error calculation in sim
|
2023-12-04 20:22:32 +03:00 |
|
|
Oleg Kalachev
|
e360110430
|
Use simulated IMU noise values from MPU9250 datasheet
|
2023-12-04 00:29:21 +03:00 |
|
|
Oleg Kalachev
|
89bf8a7f14
|
Cleanup
|
2023-12-04 00:28:02 +03:00 |
|
|
Oleg Kalachev
|
c77c25ef4e
|
dt can be negative on simulator reset
|
2023-12-04 00:27:55 +03:00 |
|
|
Oleg Kalachev
|
94b483cda6
|
Transfer fullMotorTest function to motors.ino
|
2023-12-03 20:43:55 +03:00 |
|
|
Oleg Kalachev
|
80ecba8337
|
Update illustration one more time
|
2023-11-25 22:40:11 +03:00 |
|
|
Oleg Kalachev
|
88f7615089
|
Add tool for plotting fft graphs of log entries
|
2023-11-15 19:38:11 +03:00 |
|
|
Oleg Kalachev
|
dbd413c234
|
Minor code cleanups and fixes
|
2023-11-12 10:51:56 +03:00 |
|
|
Oleg Kalachev
|
160e300566
|
Enable sky and disable origin visual in Gazebo world
|
2023-11-11 06:21:37 +03:00 |
|
|
Oleg Kalachev
|
6dae4abaa2
|
Print low pass filters parameters and current mode in cli
|
2023-11-11 06:21:06 +03:00 |
|
|
Oleg Kalachev
|
6d2518e635
|
Minor readme updates
|
2023-11-11 06:20:19 +03:00 |
|
|
Oleg Kalachev
|
7cabdc5e62
|
Implement low pass filter in separate module
|
2023-11-11 06:19:51 +03:00 |
|
|
Oleg Kalachev
|
a04d713157
|
Fix log period computation
|
2023-11-11 06:18:06 +03:00 |
|
|
Oleg Kalachev
|
8df71b078d
|
Cleanups and minor changes
|
2023-11-11 06:17:50 +03:00 |
|