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426 Commits 22 Branches 5 Tags
8762ae0b3881c956750fbf0c05cccaba135a865f
Commit Graph

227 Commits

Author SHA1 Message Date
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 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 69cfc9e5fa Utilize internal ESP32 UART invertor for SBUS 2024-01-26 13:46:13 +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 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 9ed41e50a1 Fix actuator_output mavlink message generation 2024-01-13 22:53:30 +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 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 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 f520b57abe Implement RC calibration, common for the real drone and the simulation 2024-01-02 11:54:09 +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 3207fdb43c Minor changes 2023-12-29 18:43:34 +03:00
Oleg Kalachev 343935f98c Minor fixes 2023-12-19 22:00:30 +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 d3e7291197 Guard for angleBetweenVectors function to ensure it doesn't return NaN 2023-12-19 04:58:20 +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 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 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 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 dbd413c234 Minor code cleanups and fixes 2023-11-12 10:51:56 +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 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
Oleg Kalachev 70eae3e556 Some cleanups 2023-11-11 06:15:20 +03:00