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268 Commits 9 Branches 3 Tags
e10475a5e049e9b8ad57c57cd5d07dd0e7c3bb63
Commit Graph

138 Commits

Author SHA1 Message Date
Oleg Kalachev
e10475a5e0 Some minor cleanups and fixes 2024-12-28 23:57:44 +03:00
Oleg Kalachev
7ae5457bb4 Improve logging code 
Make it easer to add and remove log entries
 2024-12-28 22:10:43 +03:00
Oleg Kalachev
299c8a6a02 Various minor fixes 2024-12-27 21:52:21 +03:00
Oleg Kalachev
2440c65c46 Remove unused include 2024-12-26 16:07:01 +03:00
Oleg Kalachev
8d7a4595f5 Rename flushParameters to more clear syncParameters 2024-12-26 01:14:26 +03:00
Oleg Kalachev
acc0274175 Minor fix 2024-12-25 02:21:17 +03:00
Oleg Kalachev
edd249566e Increase motors output frequency 2024-12-25 02:13:57 +03:00
Oleg Kalachev
ca355e0162 Simplify motors duty cycle computation 2024-12-25 02:13:33 +03:00
Oleg Kalachev
2efae82177 Minor fixes 2024-12-25 01:41:45 +03:00
Oleg Kalachev
fd30027ea4 Support AUTOPILOT_VERSION message request to make qgc connection faster 
Don't have to wait until the request is timed out.
 2024-12-23 17:59:35 +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
7533a9cbfa Move ONE_G definition to flix.ino 2024-12-23 02:37:03 +03:00
Oleg Kalachev
b6286a50b2 Minor change 2024-12-23 02:01:55 +03:00
Oleg Kalachev
4f2cf0c0b1 Don't let throttle be less than 0 in failsafe 2024-12-23 01:32:25 +03:00
Oleg Kalachev
f06a9301df Add notice on removing props in motor test commands in help 2024-12-23 01:14:05 +03:00
Oleg Kalachev
f54da5bf42 Add CLI command for rebooting the drone 2024-12-20 20:59:59 +03:00
Oleg Kalachev
77effa5577 Rotate IMU data to support standard axes orientation in new FlixPeriph 2024-12-11 06:17:37 +03:00
Oleg Kalachev
6e140d673c Cleanup unused utility functions 2024-12-05 08:29:21 +03:00
Oleg Kalachev
172b6becc6 Use new FlixPeriph library with ICM-20948 support 2024-12-04 14:41:23 +03:00
Oleg Kalachev
475e9a87ba Configure IMU before calibrating the gyro which improves calibration 2024-12-04 12:25:07 +03:00
Oleg Kalachev
ea141f851f Use 'loop rate' term instead of misleading 'loop frequency' 2024-12-04 07:00:00 +03:00
Oleg Kalachev
048a3c6375 Use the new UART2 pins for RC by default 
To make it consistent with the documentation
 2024-11-27 23:02:20 +03:00
Oleg Kalachev
a7b69f99d0 Fix non-working motor control commands 2024-11-24 00:17:47 +03:00
Oleg Kalachev
b015c15a7e Remove non-working fullmot command 2024-11-24 00:10:37 +03:00
Oleg Kalachev
eca48c6546 Minor fix 2024-11-04 16:28:54 +03:00
Oleg Kalachev
cd5f6721dc Updates to LED control code 
Don't call digitaWrite on each setLED call
 2024-11-04 16:28:43 +03:00
Oleg Kalachev
6327585754 Print accel calibration parameters in more convenient way 2024-11-04 14:37:05 +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
ad2c64625c Print the IMU information in imu command 2024-10-31 10:24:00 +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
bed5d79db8 Add comments to motor pins 2024-07-30 07:49:21 +03:00
Oleg Kalachev
e993dde355 Update ESP32 Arduino Core to v3.0.3 2024-07-25 02:45:59 +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
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
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
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