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658 Commits 27 Branches 5 Tags
d6b9228282cd72a5517ba7d8120185b7b96c56ab
Commit Graph
155 Commits
Author SHA1 Message Date
Oleg Kalachev 355f4ad49d Merge remote-tracking branch 'origin/master' into dev 2026-08-11 18:43:18 +03:00
Oleg Kalachev 2decd2d6dd Fix simulation build 2026-08-08 02:19:38 +03:00
Oleg Kalachev 83aac78cf7 Merge branch 'master' into dev 2026-08-03 16:02:29 +03:00
Oleg Kalachev eb93b0b29d Merge branch 'master' into dev 2026-08-03 16:01:39 +03:00
Oleg Kalachev 406f7a4af5 Add tilt disarm failsafe 2026-08-02 02:13:50 +03:00
Oleg Kalachev 1203a3ae8f Make imu model and pins configurable using parameters 2026-07-16 23:09:07 +03:00
Oleg Kalachev 8917849711 Remove unneeded declaration from the sim 2026-07-15 18:40:51 +03:00
Oleg Kalachev 1cdc7a8641 Fix rc in simulator 
Virtual rc is disabled if rxRxPin < 0
 2026-07-15 18:40:35 +03:00
Oleg Kalachev 0439407d76 Remove unneeded declaration from the sim 2026-07-15 18:29:36 +03:00
Oleg Kalachev c2005a2ca2 Fix rc in simulator 2026-07-15 17:40:11 +03:00
Oleg Kalachev 6a804862da Fix simulator build with new logging 2026-07-15 14:17:24 +03:00
Oleg Kalachev 7c53e88963 Add notch filter for the gyro 2026-07-08 16:07:03 +03:00
Oleg Kalachev 1ae85ff118 Add argument to motor testing commands for specifying thrust 2026-07-02 22:22:33 +03:00
Oleg Kalachev 83d1c5c68a Implement entirely new logging subsystem 
Make topic-based logging mechanics.
Print any log value to console.
Possibility to expose any logging value to mavlink.
 2026-06-30 13:03:43 +03:00
Oleg Kalachev 518abf1555 Simplify rc code 
Utilize the new method for getting channel values.
 2026-06-14 04:45:42 +03:00
Oleg Kalachev e51b47b798 Add command for setting the wifi mode easier 2026-06-09 02:44:09 +03:00
Oleg Kalachev a294883dea Make p command show all parameters starting with the arg 2026-05-27 13:58:51 +03:00
Oleg Kalachev cdfba72a0b Fix simulator run 
Add missing extern variables.
Fix warning.
 2026-05-27 11:03:50 +03:00
Oleg KalachevandGitHub fdcc9533b3 Implement ESP-NOW support (#40) 2026-05-21 10:48:31 +03:00
Oleg Kalachev bd2b1bd5de Improve voltage measurement 
Apply PWM_VOLT_PIN without reboot.
Check if the voltage pin can be used with ADC when setting up.
Set voltage to NAN, when it's unknown (including pyflix).
pyflix@0.15.
Don't send BATTERY_STATUS when voltage is unknown.
Add dummy voltage to the simulator.
 2026-05-18 00:30:42 +03:00
Oleg Kalachev f8a9f1f838 Remove reboot requirement when changing RC_RX_PIN 2026-05-13 01:27:01 +03:00
Oleg Kalachev 35e94f6ea6 Support ESP32-C3 
User Serial1 for rc instead of Serial2, as ESP32-C3 has only 2 Serials.
Add CI build for ESP32-C3.
 2026-05-10 21:07:20 +03:00
Oleg Kalachev 1f48e379e3 Improve the rc calibration code 
More convenient steps order.
Improve the readability a bit.
 2026-05-10 19:05:27 +03:00
Oleg Kalachev bd270db493 Reduce angle drift by adding level correction to the estimator 
Leverage a priori knowledge that the drone's average attitude is level.
Explanation: https://t.me/opensourcequadcopter/158.
 2026-05-05 21:27:47 +03:00
Oleg Kalachev 2ccda03573 Implement motors output desaturation 
So the drone continues stabilization on max thrust.
 2026-04-28 13:23:42 +03:00
Oleg Kalachev 6e439859bc Move disabling brown-out code to power subsystem 2026-04-23 15:06:07 +03:00
Oleg Kalachev 51cd5fc691 Implement battery voltage monitoring 
Add power subsystem.
Add PWR_VOLT_PIN, PWR_VOLT_SCALE, PWR_VOLT_LPF_A parameters.
Support BATTERY_STATUS mavlink messages streaming.
Add pw cli command.
Add voltage field to pyflix library.
pyflix@0.12.
 2026-04-22 11:35:37 +03:00
Oleg Kalachev c434107eaf Add parameter for configuring sbus pin number, disable sbus by default 2026-03-27 00:56:34 +03:00
Oleg Kalachev a687303062 Make motor parameters apply without reboot 
Add callback to parameter definition to call after parameter is changed.
 2026-02-19 04:56:12 +03:00
Oleg Kalachev 3e49d41986 Make rc channel numbers and calibration params use int instead of float 
As parameter subsystems supports int now, and int is much more natural here.
 2026-02-02 20:36:22 +03:00
Oleg Kalachev 377b21429b Fix error when launching the sim 
Also make the parameters WIFI_LOC_PORT and WIFI_REM_PORT work in the sim.
 2026-01-27 16:32:52 +03:00
Oleg Kalachev 40bdaacedb Make motor subsystem configurable using parameters 
Motor pins: MOT_PIN_FL, MOT_PIN_FR, MOT_PIN_RL, MOT_PIN_RR.
PWM configuration: MOT_PWM_FREQ, MOT_PWM_RES, MOT_PWM_STOP, MOT_PWM_MIN, MOT_PWM_MAX.
MOT_PWM_MAX = -1 chooses duty cycle mode for brushed motors (default).
 2026-01-27 08:40:52 +03:00
Oleg Kalachev dd3575174b Add wifi configuration using parameters and cli 
Add console commands to setup wifi.
Add a parameter for choosing between STA and AP mode.
Add parameters for udp ports.
Remove WIFI_ENABLED macro.
 2026-01-22 22:58:43 +03:00
Oleg Kalachev c8e5e08b03 Move all global variable declarations to the appropriate subsystems 
As it makes the subsystems code easier to understand.
Declare the most used variables in main sketch file as forward declarations.
Make all control input zero by default (except controlMode).
Minor changes.
 2026-01-03 13:28:18 +03:00
Oleg Kalachev d6e8be0c05 Add parameters for easier IMU orientation definition 2025-12-26 21:14:15 +03:00
Oleg Kalachev 36ca30c3e4 Minor docs fix 2025-11-27 18:34:32 +03:00
Oleg Kalachev 48711b55e1 Add tip about CNT_TILT_MAX parameter to the simulator article 2025-11-26 17:34:08 +03:00
Oleg Kalachev 9b5872740f Add wifi cli command 
To show wi-fi info.
 2025-11-22 04:46:54 +03:00
Oleg Kalachev 49039f752d Refactor Wi-Fi log download 
Use MAVLink LOG_REQUEST_DATA and LOG_DATA for download log instead of console.
Make Wi-Fi download default way of downloading the log.
Make `log` command only print the header and `log dump` dump the log.
 2025-11-14 20:21:05 +03:00
Oleg Kalachev 348721acc9 Updates in documentation 
Fixes, updates, new illustrations.
 2025-11-10 20:16:14 +03:00
Oleg Kalachev 774144c430 Many updates to documentation 
Updates to main readme.
Add much more info to usage article.
Move simulator building to simulation's readme.
Improve assembly article.
Many fixes.
Updates in diagrams.
 2025-11-06 13:55:52 +03:00
Oleg Kalachev e50a9d5fea Revert t variable type to float instead of double 
For the sake of simplicity and consistency.
 2025-10-19 20:46:38 +03:00
Oleg Kalachev ebac78dc0f Minor change 2025-10-19 20:46:26 +03:00
Oleg Kalachev 6f0964fac4 Rename failsafe.ino to safety.ino 
To aggregate all the safety related functionality.
 2025-10-19 20:44:54 +03:00
Oleg Kalachev 06ec5f3160 Disarm the drone on simulator plugin reset 
In order to reset yaw target.
 2025-10-07 15:45:48 +03:00
Oleg Kalachev 2128201440 Fix simulation build 2025-08-28 01:13:38 +03:00
Oleg Kalachev 10fafbc4a0 Send udp packets in unicast after connection is established 
This makes qgc connection faster.
Add WIFI_UDP_REMOTE_ADDR macro for default remote address for both the firmware and simulation.
 2025-08-27 05:01:07 +03:00
Oleg Kalachev c1788e2c75 Refactor arming logic 
Arm and disarm with gestures only: left stick right/down for arming, left/down for disarming.
Remove arming switch as it complicates arming gestures logic.
Remove MAV_CTRL_SCALE parameter as it complicates arming gestures logic, advise to decrease TILT_MAX when controlling with a smartphone.
Put some minimal thrust to motors to indicate armed state.
Rename build article to usage article, add flight instructions.
 2025-08-27 03:19:26 +03:00
Oleg Kalachev 8418723ccc Refactor control subsystem 
Add interpretControls function to convert pilot commands and mode into control targets and make control functions independent from the mode.
Add ratesExtra target for rates feed-forward; remove yawMode.
Rename controlRate to controlRates to reflect rates variable name.
Remove USER mode.
 2025-08-26 01:00:56 +03:00
Oleg Kalachev 6b38070e43 Rename printIMUCal to printIMUCalibration for consistency with rc 2025-07-14 12:04:02 +03:00