Oleg Kalachev
6028b8a617
Catch port bind error in simulation
2025-01-17 17:38:47 +03:00
Oleg Kalachev
70f5186c1b
Use double for storing time instead of float
...
Float precision may be not enough after some time of operating
2025-01-12 19:58:36 +03:00
Oleg Kalachev
ac54c954aa
Cleanup
2025-01-11 04:31:53 +03:00
Oleg Kalachev
9e4a2c5ffc
Move controlsTime variable to rc.ino
2025-01-11 00:28:31 +03:00
Oleg Kalachev
821e6b105e
Make channels definition to rc.ino
...
It's also planned to parametrize them later
2025-01-10 09:37:48 +03:00
Oleg Kalachev
698cc3d9b8
Global variables cleanups
...
Remove unused PID objects for cli
Move loopRate to time.ino
2025-01-10 07:10:30 +03:00
Oleg Kalachev
85172cdcc8
Make util module header instead of .ino-file
2025-01-10 06:51:14 +03:00
Oleg Kalachev
c8109af04f
Make ONE_G definition const and move to utils.ino
2025-01-09 11:24:40 +03:00
Oleg Kalachev
404ceed851
Make motor indexes definition const int and move them to motors.ino
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Remove motor indexes definitions from flix.ino
Add motors.ino to simulation code and implement required mocks
2025-01-09 11:14:18 +03:00
Oleg Kalachev
43be27c43d
Fix joystick work in simulation
...
Logic was broken as joystickGet never got called
2024-12-27 15:34:33 +03:00
Oleg Kalachev
8d7a4595f5
Rename flushParameters to more clear syncParameters
2024-12-26 01:14:26 +03:00
Oleg Kalachev
2efae82177
Minor fixes
2024-12-25 01:41:45 +03:00
Oleg Kalachev
ae349fb73c
Implement parameters subsystem
...
* Unified parameters storage.
* Store parameters in flash on the hardware.
* Store parameters in text file in simulation.
* Work with parameters in command line.
* Support parameters in MAVLink for working with parameters in QGC.
2024-12-23 13:00:02 +03:00
Oleg Kalachev
28f6cfff60
Fix SBUS simulation logic
...
Don't consider zero values from not connected joystick
2024-12-23 04:04:00 +03:00
Oleg Kalachev
7533a9cbfa
Move ONE_G definition to flix.ino
2024-12-23 02:37:03 +03:00
Oleg Kalachev
3cc3014ca0
Improve logic of passing channels data in simulated SBUS
...
Return the data the same way as on the real drone without touching channels global vairable
2024-12-23 02:04:22 +03:00
Oleg Kalachev
f54da5bf42
Add CLI command for rebooting the drone
2024-12-20 20:59:59 +03:00
Oleg Kalachev
ea141f851f
Use 'loop rate' term instead of misleading 'loop frequency'
2024-12-04 07:00:00 +03:00
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
