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391 Commits 8 Branches 3 Tags
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391 Commits

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Author SHA1 Message Date
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 v0.1 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
Oleg Kalachev
c4ac5eb9d0 Update ESP32 core version 2023-11-11 06:15:43 +03:00
Oleg Kalachev
70eae3e556 Some cleanups 2023-11-11 06:15:20 +03:00
Oleg Kalachev
8dad0a0918 Fix CMake warning 2023-11-04 01:36:16 +03:00
Oleg Kalachev
b1dae8c33d Minor cleanup 2023-05-31 23:51:28 +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
9a93367629 Make dt=0 on first step, simplify code 2023-05-31 20:07:38 +03:00