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
84a329cca7
More clean yaw error calculation
2024-10-23 09:25:07 +03:00
Oleg Kalachev
5613028678
Enable Wi-Fi by default
2024-10-23 09:24:58 +03:00
Oleg Kalachev
a0cca80980
Some fixes to VSCode config
2024-07-30 09:28:20 +03:00
Oleg Kalachev
bed5d79db8
Add comments to motor pins
2024-07-30 07:49:21 +03:00
Oleg Kalachev
da51ebab38
Add some C++ code style settings to VSCode settings
2024-07-30 07:46:40 +03:00
Oleg Kalachev
0b977aee28
Add json rules to .editorconfig
2024-07-30 07:46:15 +03:00
Oleg Kalachev
6ef8820770
Add VSCode configuration
2024-07-25 06:51:47 +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
ce87234a51
Add link to Android QGroundControl download to building instructions
2024-06-18 14:43:40 +03:00
Oleg Kalachev
e40fbd0ce2
Install arduino-cli without sudo in instructions
2024-06-18 13:51:07 +03:00
Oleg Kalachev
0938609dc7
Update checkout action to v4
...
v3 is deprecated
2024-06-12 03:26:17 +03:00
Oleg Kalachev
1a22350775
Add article on analyzing the logs
2024-06-02 11:46:32 +03:00
Oleg Kalachev
72b2cf49d5
Add tools for conversion svg logs to mcap
2024-06-02 01:45:49 +03:00
Oleg Kalachev
63d602dd7a
Add C++ tool for conversion csv logs to ulog
2024-06-02 01:45:05 +03:00
Oleg Kalachev
1119c77cca
Remove unneeded abs for motors thrust in simulation
2024-05-24 14:47:26 +03:00
Oleg Kalachev
fbe33eac1b
Set gyro limits to 2000 DPS by default
2024-05-24 14:46:38 +03:00
Oleg Kalachev
7cfcf5b63b
Use more natural torqueTarget order in mixer (xyz)
2024-05-21 10:52:39 +03:00
Oleg Kalachev
94d24cbd28
Fix PWM values for reverse rotations
2024-05-21 10:51:45 +03:00
Oleg Kalachev
be3d2be9d3
Fix Vector::angularRatesBetweenVectors return NaNs on opposite vectors
2024-05-21 10:50:47 +03:00
Oleg Kalachev
ad6bc02643
Minor fixes and changes
2024-05-21 10:49:57 +03:00
Oleg Kalachev
b91f4d3b6d
Install arduino-cli to /usr/local/bin
...
The Arduino docs probably has mistake offering non-existent ~/local/bin path instead of ~/.local/bin.
Some systems lack ~/.local/bin as well, so simply use /usr/local/bin.
Also install arduino-cli in CI the same way as in the docs to check them.
2024-05-21 10:34:05 +03:00
Oleg Kalachev
28da7baf61
Add link to Habr article to readme
2024-05-17 07:59:18 +03:00
Oleg Kalachev
7516279132
Add requirements.txt for tools
2024-05-10 22:28:42 +03:00
Oleg Kalachev
a383c83a29
Minor update to .editorconfig
2024-05-02 21:22:13 +03:00
Oleg Kalachev
6392c4a97a
Update dataflow diagram to reflect newly introduced gyro variable
2024-05-01 02:35:30 +03:00
Oleg Kalachev
cfb2e60310
Add correct rules to yml files editor config
2024-05-01 02:33:44 +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
24e8569905
Make Vector methods arguments more consistent
2024-04-20 10:57:32 +03:00
Oleg Kalachev
fb80b899e0
Refine Gazebo installation instructions for macOS
2024-04-09 02:45:21 +03:00
Oleg Kalachev
d095b81d7e
Print out loop frequency on imu command
2024-04-02 22:28:02 +03:00
Oleg Kalachev
28a6bf2230
Add info about motors testing commands to intro message
2024-03-30 18:23:42 +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
f782f647cb
Correctly restore IMU settings after accel calibration
2024-03-15 13:26:59 +03:00
Oleg Kalachev
32f29dc1a4
Use default SPI CS pin for IMU
2024-03-15 13:14:28 +03:00
Oleg Kalachev
2cf1c7abb3
Use FlixPeriph library for IMU, implement own IMU calibration
2024-03-15 10:38:48 +03:00
Oleg Kalachev
d752cce0cc
Fix accel calibration upside down wait time
2024-03-12 00:36:53 +03:00
Oleg Kalachev
aeec8e34eb
Add auto-center throttle setting notice to QGC usage documentation
2024-03-03 21:08:43 +03:00
Oleg Kalachev
34a81536c2
Fix reverse motors pwm
2024-03-02 15:37:38 +03:00
Oleg Kalachev
1c9b10a674
Use default recommended chip-select pin (GPIO5) for SPI
...
Update link to the schematics #3 to the most recent version
2024-02-24 15:28:41 +03:00
Oleg Kalachev
ab2f99ab59
Simplify making user modes for control, add USER mode
2024-02-22 03:09:12 +03:00
Oleg Kalachev
5b6ef9c50e
Add warning about shaft diameter for the motors
2024-02-21 18:24:35 +03:00
Oleg Kalachev
5ec6b5e665
Make fromEulerZYX accept Vector instead of x, y, z
2024-02-20 04:51:59 +03:00
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
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
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
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
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
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