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250 Commits 8 Branches 3 Tags
Commit Graph

72 Commits

Author SHA1 Message Date
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
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