70 Commits

Author	SHA1	Message	Date
Oleg Kalachev	b015c15a7e	Remove non-working fullmot command	2024-11-24 00:10:37 +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	378db51de9	Get rid of simulator build warnings	2024-10-24 03:50:03 +03:00
Oleg Kalachev	ba5ac30136	Adjust the default camera position in the simulator	2024-10-24 03:48:31 +03:00
Oleg Kalachev	13341602f0	Fix Gazebo stl model orientation	2024-10-23 14:30:25 +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
Oleg Kalachev	abcc9b96de	Use FLU as the main coordinate system instead of FRD ... Corresponding to the IMU orientation in the new version	2024-10-23 09:30:49 +03:00
Oleg Kalachev	f46460e53d	Make RC_CHANNELS=16 corresponding the number of SBUS channels	2024-10-23 09:28:09 +03:00
Oleg Kalachev	23f3295439	Remove ESC support and add MOSFET support in motors code ... The new version uses MOSFETs	2024-10-23 09:27:54 +03:00
Oleg Kalachev	b0b6eb9a97	Minor code cleanups and clarifications	2024-10-23 09:25:39 +03:00
Oleg Kalachev	e993dde355	Update ESP32 Arduino Core to v3.0.3	2024-07-25 02:45:59 +03:00
Oleg Kalachev	627233f862	Minor updates	2024-07-25 02:44:47 +03:00
Oleg Kalachev	1119c77cca	Remove unneeded abs for motors thrust in simulation	2024-05-24 14:47:26 +03:00
Oleg Kalachev	ad6bc02643	Minor fixes and changes	2024-05-21 10:49:57 +03:00
Oleg Kalachev	41a9a95747	Transfer gyro low pass filter to estimate.ino ... Separate raw gyro data and filtered rates to different variables	2024-04-20 14:52:01 +03:00
Oleg Kalachev	fff7262d1b	Minor fix for SBUS dummy for simulator	2024-03-23 09:20:08 +03:00
Oleg Kalachev	646fa46f6b	Use FlixPeriph library for SBUS	2024-03-17 02:29:37 +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	ba6e63b50b	Correctly set output parameters of simulated SBUS::read, minor name fix	2024-02-06 21:02:20 +03:00
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	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	ed6d09061b	Rename RC_CHANNEL_AUX to RC_CHANNEL_ARMED	2024-01-19 05:19:41 +03:00
Oleg Kalachev	172f6b173a	MAVLink input support (control using mobile phone)	2024-01-17 15:39:40 +03:00
Oleg Kalachev	f4aaf0f4f3	Use radians macro, minor change	2024-01-12 00:43:52 +03:00
Oleg Kalachev	48ea797a47	Make simulator read RC through real drone code	2024-01-06 00:09:29 +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	c58a16e4df	More clear file name for simulation plugin, cleanup in CMakeLists	2023-12-29 13:33:03 +03:00
Oleg Kalachev	fc006d43e2	Fix cmake warning	2023-12-22 02:35:28 +03:00
Oleg Kalachev	c3cdb58070	Remove non-existent file include	2023-12-19 05:11:22 +03:00
Oleg Kalachev	a174d5cd7d	Headers cleanups	2023-12-19 05:06:19 +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	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	32d69cb4a0	Main world file fixes and cleanups, temporarily remove the table	2023-12-15 09:35:09 +03:00
Oleg Kalachev	2c21114540	Refactor control, remake controlManual to controlTorque	2023-12-13 08:33:35 +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	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