Add commands for switching modes

Make mode simple int instead of enum for simplify using in other subsystems

README.md

@@ -17,11 +17,11 @@
 
 * Dedicated for education and research.
 * Made from general-purpose components.
-* Simple and clean source code in Arduino (<2k lines firmware).
+* Simple and clean source code in Arduino.
-* Control using USB gamepad, remote control or smartphone.
+* Control using remote control or smartphone.
+* Precise simulation with Gazebo.
 * Wi-Fi and MAVLink support.
 * Wireless command line interface and analyzing.
-* Precise simulation with Gazebo.
 * Python library.
 * Textbook on flight control theory and practice ([in development](https://quadcopter.dev)).
 * *Position control (using external camera) and autonomous flights¹*.
@@ -38,11 +38,7 @@ Version 0 demo video: https://youtu.be/8GzzIQ3C6DQ.
 
 <a href="https://youtu.be/8GzzIQ3C6DQ"><img width=500 src="https://i3.ytimg.com/vi/8GzzIQ3C6DQ/maxresdefault.jpg"></a>
 
-Usage in education (RoboCamp): https://youtu.be/Wd3yaorjTx0.
+See the [user builds gallery](docs/user.md).
-
-<a href="https://youtu.be/Wd3yaorjTx0"><img width=500 src="https://i3.ytimg.com/vi/Wd3yaorjTx0/sddefault.jpg"></a>
-
-See the [user builds gallery](docs/user.md):
 
 <a href="docs/user.md"><img src="docs/img/user/user.jpg" width=500></a>
 
@@ -55,7 +51,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
 ## Articles
 
 * [Assembly instructions](docs/assembly.md).
-* [Usage: build, setup and flight](docs/usage.md).
+* [Building and running the code](docs/build.md).
 * [Troubleshooting](docs/troubleshooting.md).
 * [Firmware architecture overview](docs/firmware.md).
 * [Python library tutorial](tools/pyflix/README.md).
@@ -67,8 +63,8 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
 |Type|Part|Image|Quantity|
 |-|-|:-:|:-:|
 |Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
-|IMU (and barometer²) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM20948V2 (ICM‑20948)³<br>GY-521 (MPU-6050)³⁻¹|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
+|IMU (and barometer²) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM‑20948³<br>GY-521 (MPU-6050)³⁻¹|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
-|<span style="background:yellow">Buck-boost converter</span> (recommended)|To be determined, output 5V or 3.3V, see [user-contributed schematics](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612179508274&cot=14)|<img src="docs/img/buck-boost.jpg" width=100>|1|
+|<span style="background:yellow">(Recommended) Buck-boost converter</span>|To be determined, output 5V or 3.3V, see [user-contributed schematics](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612179508274&cot=14)|<img src="docs/img/buck-boost.jpg" width=100>|1|
 |Motor|8520 3.7V brushed motor (shaft 0.8mm).<br>Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).|<img src="docs/img/motor.jpeg" width=100>|4|
 |Propeller|Hubsan 55 mm|<img src="docs/img/prop.jpg" width=100>|4|
 |MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4|
@@ -81,7 +77,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
 |Frame main part|3D printed⁴:<br>[`flix-frame-1.1.stl`](docs/assets/flix-frame-1.1.stl) [`flix-frame-1.1.step`](docs/assets/flix-frame-1.1.step)<br>Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.|<img src="docs/img/frame1.jpg" width=100>|1|
 |Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
 |Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|2|
-|Controller (recommended)|CC2500 transmitter, like BetaFPV LiteRadio CC2500 (RC receiver/Wi-Fi).<br>Two-sticks gamepad (Wi-Fi only) — see [recommended gamepads](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html#supported-joysticks).<br>Other⁵|<img src="docs/img/betafpv.jpg" width=100><img src="docs/img/logitech.jpg" width=80>|1|
+|*RC transmitter (optional)*|*KINGKONG TINY X8 (warning: lacks USB support) or other⁵*|<img src="docs/img/tx.jpg" width=100>|1|
 |*RC receiver (optional)*|*DF500 or other⁵*|<img src="docs/img/rx.jpg" width=100>|1|
 |Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>||
 |Tape, double-sided tape||||
@@ -90,7 +86,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
 *³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br>
 *³⁻¹ — MPU-6050 supports I²C interface only (not recommended). To use it change IMU declaration to `MPU6050 IMU(Wire)`.*<br>
 *⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
-*⁵ — you also may use any transmitter-receiver pair with SBUS interface.*
+*⁵ — you may use any transmitter-receiver pair with SBUS interface.*
 
 Tools required for assembly:
 

docs/book/firmware.md

@@ -1,10 +1,8 @@
 # Архитектура прошивки
 
-Прошивка Flix это обычный скетч Arduino, реализованный в однопоточном стиле. Код инициализации находится в функции `setup()`, а главный цикл — в функции `loop()`. Скетч состоит из нескольких файлов, каждый из которых отвечает за определенную подсистему.
+<img src="img/dataflow.svg" width=800 alt="Firmware dataflow diagram">
 
-<img src="img/dataflow.svg" width=600 alt="Firmware dataflow diagram">
+Главный цикл работает на частоте 1000 Гц. Передача данных между подсистемами происходит через глобальные переменные:
-
-Главный цикл `loop()` работает на частоте 1000 Гц. Передача данных между подсистемами происходит через глобальные переменные:
 
 * `t` *(float)* — текущее время шага, *с*.
 * `dt` *(float)* — дельта времени между текущим и предыдущим шагами, *с*.
@@ -17,34 +15,18 @@
 
 ## Исходные файлы
 
-Исходные файлы прошивки находятся в директории `flix`. Основные файлы:
+Исходные файлы прошивки находятся в директории `flix`. Ключевые файлы:
 
-* [`flix.ino`](https://github.com/okalachev/flix/blob/master/flix/flix.ino) — основной файл Arduino-скетча. Определяет некоторые глобальные переменные и главный цикл.
+* [`flix.ino`](https://github.com/okalachev/flix/blob/canonical/flix/flix.ino) — основной входной файл, скетч Arduino. Включает определение глобальных переменных и главный цикл.
-* [`imu.ino`](https://github.com/okalachev/flix/blob/master/flix/imu.ino) — чтение данных с датчика IMU (гироскоп и акселерометр), калибровка IMU.
+* [`imu.ino`](https://github.com/okalachev/flix/blob/canonical/flix/imu.ino) — чтение данных с датчика IMU (гироскоп и акселерометр), калибровка IMU.
-* [`rc.ino`](https://github.com/okalachev/flix/blob/master/flix/rc.ino) — чтение данных с RC-приемника, калибровка RC.
+* [`rc.ino`](https://github.com/okalachev/flix/blob/canonical/flix/rc.ino) — чтение данных с RC-приемника, калибровка RC.
-* [`estimate.ino`](https://github.com/okalachev/flix/blob/master/flix/estimate.ino) — оценка ориентации дрона, комплементарный фильтр.
+* [`mavlink.ino`](https://github.com/okalachev/flix/blob/canonical/flix/mavlink.ino) — взаимодействие с QGroundControl через MAVLink.
-* [`control.ino`](https://github.com/okalachev/flix/blob/master/flix/control.ino) — подсистема управления, трехмерный двухуровневый каскадный ПИД-регулятор.
+* [`estimate.ino`](https://github.com/okalachev/flix/blob/canonical/flix/estimate.ino) — оценка ориентации дрона, комплементарный фильтр.
-* [`motors.ino`](https://github.com/okalachev/flix/blob/master/flix/motors.ino) — выход PWM на моторы.
+* [`control.ino`](https://github.com/okalachev/flix/blob/canonical/flix/control.ino) — управление ориентацией и угловыми скоростями дрона, трехмерный двухуровневый каскадный PID-регулятор.
-* [`mavlink.ino`](https://github.com/okalachev/flix/blob/master/flix/mavlink.ino) — взаимодействие с QGroundControl или [pyflix](https://github.com/okalachev/flix/tree/master/tools/pyflix) через протокол MAVLink.
+* [`motors.ino`](https://github.com/okalachev/flix/blob/canonical/flix/motors.ino) — управление выходными сигналами на моторы через ШИМ.
 
-Вспомогательные файлы:
+Вспомогательные файлы включают:
 
-* [`vector.h`](https://github.com/okalachev/flix/blob/master/flix/vector.h), [`quaternion.h`](https://github.com/okalachev/flix/blob/master/flix/quaternion.h) — библиотеки векторов и кватернионов.
+* [`vector.h`](https://github.com/okalachev/flix/blob/canonical/flix/vector.h), [`quaternion.h`](https://github.com/okalachev/flix/blob/canonical/flix/quaternion.h) — реализация библиотек векторов и кватернионов проекта.
-* [`pid.h`](https://github.com/okalachev/flix/blob/master/flix/pid.h) — ПИД-регулятор.
+* [`pid.h`](https://github.com/okalachev/flix/blob/canonical/flix/pid.h) — реализация общего ПИД-регулятора.
-* [`lpf.h`](https://github.com/okalachev/flix/blob/master/flix/lpf.h) — фильтр нижних частот.
+* [`lpf.h`](https://github.com/okalachev/flix/blob/canonical/flix/lpf.h) — реализация общего фильтра нижних частот.
-
-### Подсистема управления
-
-Состояние органов управления обрабатывается в функции `interpretControls()` и преобразуется в *команду управления*, которая включает следующее:
-
-* `attitudeTarget` *(Quaternion)* — целевая ориентация дрона.
-* `ratesTarget` *(Vector)* — целевые угловые скорости, *рад/с*.
-* `ratesExtra` *(Vector)* — дополнительные (feed-forward) угловые скорости, для управления рысканием в режиме STAB, *рад/с*.
-* `torqueTarget` *(Vector)* — целевой крутящий момент, диапазон [-1, 1].
-* `thrustTarget` *(float)* — целевая общая тяга, диапазон [0, 1].
-
-Команда управления обрабатывается в функциях `controlAttitude()`, `controlRates()`, `controlTorque()`. Если значение одной из переменных установлено в `NAN`, то соответствующая функция пропускается.
-
-<img src="img/control.svg" width=300 alt="Control subsystem diagram">
-
-Состояние *armed* хранится в переменной `armed`, а текущий режим — в переменной `mode`.

docs/build.md

@@ -1 +0,0 @@
-usage.md

docs/build.md

@@ -0,0 +1,205 @@
+# Building and running
+
+To build the firmware or the simulator, you need to clone the repository using git:
+
+```bash
+git clone https://github.com/okalachev/flix.git
+cd flix
+```
+
+## Simulation
+
+### Ubuntu
+
+The latest version of Ubuntu supported by Gazebo 11 simulator is 22.04. If you have a newer version, consider using a virtual machine.
+
+1. Install Arduino CLI:
+
+   ```bash
+   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
+   ```
+
+2. Install Gazebo 11:
+
+   ```bash
+   curl -sSL http://get.gazebosim.org | sh
+   ```
+
+   Set up your Gazebo environment variables:
+
+   ```bash
+   echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+   source ~/.bashrc
+   ```
+
+3. Install SDL2 and other dependencies:
+
+   ```bash
+   sudo apt-get update && sudo apt-get install build-essential libsdl2-dev
+   ```
+
+4. Add your user to the `input` group to enable joystick support (you need to re-login after this command):
+
+   ```bash
+   sudo usermod -a -G input $USER
+   ```
+
+5. Run the simulation:
+
+   ```bash
+   make simulator
+   ```
+
+### macOS
+
+1. Install Homebrew package manager, if you don't have it installed:
+
+   ```bash
+   /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
+   ```
+
+2. Install Arduino CLI, Gazebo 11 and SDL2:
+
+   ```bash
+   brew tap osrf/simulation
+   brew install arduino-cli
+   brew install gazebo11
+   brew install sdl2
+   ```
+
+   Set up your Gazebo environment variables:
+
+   ```bash
+   echo "source /opt/homebrew/share/gazebo/setup.sh" >> ~/.zshrc
+   source ~/.zshrc
+   ```
+
+3. Run the simulation:
+
+   ```bash
+   make simulator
+   ```
+
+### Setup and flight
+
+#### Control with smartphone
+
+1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone. For **iOS**, use [QGroundControl build from TAJISOFT](https://apps.apple.com/ru/app/qgc-from-tajisoft/id1618653051).
+2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
+3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
+4. Run the simulation.
+5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically.
+6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+7. Use the virtual joystick to fly the drone!
+
+#### Control with USB remote control
+
+1. Connect your USB remote control to the machine running the simulator.
+2. Run the simulation.
+3. Calibrate the RC using `cr` command in the command line interface.
+4. Run the simulation again.
+5. Use the USB remote control to fly the drone!
+
+## Firmware
+
+### Arduino IDE (Windows, Linux, macOS)
+
+1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
+2. Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).
+3. Install ESP32 core, version 3.2.0. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
+4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
+   * `FlixPeriph`, the latest version.
+   * `MAVLink`, version 2.0.16.
+5. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).
+6. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.
+7. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini) and the port.
+8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
+
+### Command line (Windows, Linux, macOS)
+
+1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
+
+   On Linux, use:
+
+   ```bash
+   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
+   ```
+
+2. Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).
+3. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
+
+   ```bash
+   make
+   ```
+
+   You can flash the firmware to the board using command:
+
+   ```bash
+   make upload
+   ```
+
+   You can also compile the firmware, upload it and start serial port monitoring using command:
+
+   ```bash
+   make upload monitor
+   ```
+
+See other available Make commands in the [Makefile](../Makefile).
+
+> [!TIP]
+> You can test the firmware on a bare ESP32 board without connecting IMU and other peripherals. The Wi-Fi network `flix` should appear and all the basic functionality including CLI and QGroundControl connection should work.
+
+### Setup and flight
+
+Before flight you need to calibrate the accelerometer:
+
+1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
+2. Type `ca` command there and follow the instructions.
+
+#### Control with smartphone
+
+1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
+2. Power the drone using the battery.
+3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
+4. Open QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
+5. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+6. Use the virtual joystick to fly the drone!
+
+#### Control with remote control
+
+Before flight using remote control, you need to calibrate it:
+
+1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
+2. Type `cr` command there and follow the instructions.
+3. Use the remote control to fly the drone!
+
+#### Control with USB remote control
+
+If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
+
+1. Install [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) app on your computer.
+2. Connect your USB remote control to the computer.
+3. Power up the drone.
+4. Connect your computer to the appeared `flix` Wi-Fi network (password: `flixwifi`).
+5. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
+6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
+7. Use the USB remote control to fly the drone!
+
+#### Adjusting parameters
+
+You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl app. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.
+
+<img src="img/parameters.png" width="400">
+
+#### CLI access
+
+In addition to accessing the drone's command line interface (CLI) using the serial port, you can also access it with QGroundControl using Wi-Fi connection. To do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
+
+<img src="img/cli.png" width="400">
+
+> [!NOTE]
+> If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article.
+
+### Firmware code structure
+
+See [firmware overview](firmware.md) for more details.

docs/firmware.md

@@ -1,56 +1,39 @@
 # Firmware overview
 
-The firmware is a regular Arduino sketch, and it follows the classic Arduino one-threaded design. The initialization code is in the `setup()` function, and the main loop is in the `loop()` function. The sketch includes several files, each responsible for a specific subsystem.
+The firmware is a regular Arduino sketch, and follows the classic Arduino one-threaded design. The initialization code is in the `setup()` function, and the main loop is in the `loop()` function. The sketch includes multiple files, each responsible for a specific part of the system.
 
 ## Dataflow
 
-<img src="img/dataflow.svg" width=600 alt="Firmware dataflow diagram">
+<img src="img/dataflow.svg" width=800 alt="Firmware dataflow diagram">
 
-The main loop is running at 1000 Hz. All the dataflow goes through global variables (for simplicity):
+The main loop is running at 1000 Hz. All the dataflow is happening through global variables (for simplicity):
 
-* `t` *(double)* — current step time, *s*.
+* `t` *(double)* — current step time, *s*.
 * `dt` *(float)* — time delta between the current and previous steps, *s*.
 * `gyro` *(Vector)* — data from the gyroscope, *rad/s*.
 * `acc` *(Vector)* — acceleration data from the accelerometer, *m/s<sup>2</sup>*.
 * `rates` *(Vector)* — filtered angular rates, *rad/s*.
 * `attitude` *(Quaternion)* — estimated attitude (orientation) of drone.
-* `controlRoll`, `controlPitch`, ... *(float[])* — pilot control inputs, range [-1, 1].
+* `controlRoll`, `controlPitch`, ... *(float[])* — pilot's control inputs, range [-1, 1].
-* `motors` *(float[])* — motor outputs, range [0, 1].
+* `motors` *(float[])* — motor outputs, range [0, 1].
 
 ## Source files
 
-Firmware source files are located in `flix` directory. The core files are:
+Firmware source files are located in `flix` directory. The key files are:
 
-* [`flix.ino`](../flix/flix.ino) — Arduino sketch main file, entry point.Includes some global variable definitions and the main loop.
+* [`flix.ino`](../flix/flix.ino) — main entry point, Arduino sketch. Includes global variables definition and the main loop.
 * [`imu.ino`](../flix/imu.ino) — reading data from the IMU sensor (gyroscope and accelerometer), IMU calibration.
 * [`rc.ino`](../flix/rc.ino) — reading data from the RC receiver, RC calibration.
-* [`estimate.ino`](../flix/estimate.ino) — attitude estimation, complementary filter.
+* [`estimate.ino`](../flix/estimate.ino) — drone's attitude estimation, complementary filter.
-* [`control.ino`](../flix/control.ino) — control subsystem, three-dimensional two-level cascade PID controller.
+* [`control.ino`](../flix/control.ino) — drone's attitude and rates control, three-dimensional two-level cascade PID controller.
-* [`motors.ino`](../flix/motors.ino) — PWM motor output control.
+* [`motors.ino`](../flix/motors.ino) — PWM motor outputs control.
-* [`mavlink.ino`](../flix/mavlink.ino) — interaction with QGroundControl or [pyflix](../tools/pyflix) via MAVLink protocol.
 
-Utility files:
+Utility files include:
 
-* [`vector.h`](../flix/vector.h), [`quaternion.h`](../flix/quaternion.h) — vector and quaternion libraries.
+* [`vector.h`](../flix/vector.h), [`quaternion.h`](../flix/quaternion.h) — project's vector and quaternion libraries implementation.
-* [`pid.h`](../flix/pid.h) — generic PID controller.
+* [`pid.h`](../flix/pid.h) — generic PID controller implementation.
-* [`lpf.h`](../flix/lpf.h) — generic low-pass filter.
+* [`lpf.h`](../flix/lpf.h) — generic low-pass filter implementation.
-
-### Control subsystem
-
-Pilot inputs are interpreted in `interpretControls()`, and then converted to the *control command*, which consists of the following:
-
-* `attitudeTarget` *(Quaternion)* — target attitude of the drone.
-* `ratesTarget` *(Vector)* — target angular rates, *rad/s*.
-* `ratesExtra` *(Vector)* — additional (feed-forward) angular rates , used for yaw rate control in STAB mode, *rad/s*.
-* `torqueTarget` *(Vector)* — target torque, range [-1, 1].
-* `thrustTarget` *(float)* — collective thrust target, range [0, 1].
-
-Control command is processed in `controlAttitude()`, `controlRates()`, `controlTorque()` functions. Each function may be skipped if the corresponding target is set to `NAN`.
-
-<img src="img/control.svg" width=300 alt="Control subsystem diagram">
-
-Armed state is stored in `armed` variable, and current mode is stored in `mode` variable.
 
 ## Building
 
-See build instructions in [usage.md](usage.md).
+See build instructions in [build.md](build.md).

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docs/troubleshooting.md

@@ -4,9 +4,8 @@
 
 Do the following:
 
-* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](usage.md#firmware).
+* **Check ESP32 core is installed**. Check if the version matches the one used in the [tutorial](build.md#firmware).
 * **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
-* **Check the chosen board**. The correct board to choose in Arduino IDE for ESP32 Mini is *WEMOS D1 MINI ESP32*.
 
 ## The drone doesn't fly
 

docs/usage.md

@@ -1,249 +0,0 @@
-# Usage: build, setup and flight
-
-To use Flix, you need to build the firmware and upload it to the ESP32 board. For simulation, you need to build and run the simulator.
-
-For the start, clone the repository using git:
-
-```bash
-git clone https://github.com/okalachev/flix.git
-cd flix
-```
-
-## Simulation
-
-### Ubuntu
-
-The latest version of Ubuntu supported by Gazebo 11 simulator is 22.04. If you have a newer version, consider using a virtual machine.
-
-1. Install Arduino CLI:
-
-   ```bash
-   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
-   ```
-
-2. Install Gazebo 11:
-
-   ```bash
-   curl -sSL http://get.gazebosim.org | sh
-   ```
-
-   Set up your Gazebo environment variables:
-
-   ```bash
-   echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
-   source ~/.bashrc
-   ```
-
-3. Install SDL2 and other dependencies:
-
-   ```bash
-   sudo apt-get update && sudo apt-get install build-essential libsdl2-dev
-   ```
-
-4. Add your user to the `input` group to enable joystick support (you need to re-login after this command):
-
-   ```bash
-   sudo usermod -a -G input $USER
-   ```
-
-5. Run the simulation:
-
-   ```bash
-   make simulator
-   ```
-
-### macOS
-
-1. Install Homebrew package manager, if you don't have it installed:
-
-   ```bash
-   /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-   ```
-
-2. Install Arduino CLI, Gazebo 11 and SDL2:
-
-   ```bash
-   brew tap osrf/simulation
-   brew install arduino-cli
-   brew install gazebo11
-   brew install sdl2
-   ```
-
-   Set up your Gazebo environment variables:
-
-   ```bash
-   echo "source /opt/homebrew/share/gazebo/setup.sh" >> ~/.zshrc
-   source ~/.zshrc
-   ```
-
-3. Run the simulation:
-
-   ```bash
-   make simulator
-   ```
-
-### Setup
-
-#### Control with smartphone
-
-1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone. For **iOS**, use [QGroundControl build from TAJISOFT](https://apps.apple.com/ru/app/qgc-from-tajisoft/id1618653051).
-2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
-3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
-4. Run the simulation.
-5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically.
-6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
-7. Use the virtual joystick to fly the drone!
-
-#### Control with USB remote control
-
-1. Connect your USB remote control to the machine running the simulator.
-2. Run the simulation.
-3. Calibrate the RC using `cr` command in the command line interface.
-4. Run the simulation again.
-5. Use the USB remote control to fly the drone!
-
-## Firmware
-
-### Arduino IDE (Windows, Linux, macOS)
-
-1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
-2. Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).
-3. Install ESP32 core, version 3.2.0. See the [official Espressif's instructions](https://docs.espressif.com/projects/arduino-esp32/en/latest/installing.html#installing-using-arduino-ide) on installing ESP32 Core in Arduino IDE.
-4. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
-   * `FlixPeriph`, the latest version.
-   * `MAVLink`, version 2.0.16.
-5. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).
-6. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.
-7. Connect your ESP32 board to the computer and choose correct board type in Arduino IDE (*WEMOS D1 MINI ESP32* for ESP32 Mini) and the port.
-8. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
-
-### Command line (Windows, Linux, macOS)
-
-1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
-
-   On Linux, use:
-
-   ```bash
-   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
-   ```
-
-2. Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).
-3. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
-
-   ```bash
-   make
-   ```
-
-   You can flash the firmware to the board using command:
-
-   ```bash
-   make upload
-   ```
-
-   You can also compile the firmware, upload it and start serial port monitoring using command:
-
-   ```bash
-   make upload monitor
-   ```
-
-See other available Make commands in the [Makefile](../Makefile).
-
-> [!TIP]
-> You can test the firmware on a bare ESP32 board without connecting IMU and other peripherals. The Wi-Fi network `flix` should appear and all the basic functionality including CLI and QGroundControl connection should work.
-
-### Setup
-
-Before flight you need to calibrate the accelerometer:
-
-1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
-2. Type `ca` command there and follow the instructions.
-
-#### Control with smartphone
-
-1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
-2. Power the drone using the battery.
-3. Connect your smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
-4. Open QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
-5. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
-6. Use the virtual joystick to fly the drone!
-
-> [!TIP]
-> Decrease `TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
-
-#### Control with remote control
-
-Before flight using remote control, you need to calibrate it:
-
-1. Open Serial Monitor in Arduino IDE (or use `make monitor` command in the command line).
-2. Type `cr` command there and follow the instructions.
-3. Use the remote control to fly the drone!
-
-#### Control with USB remote control (Wi-Fi)
-
-If your drone doesn't have RC receiver installed, you can use USB remote control and QGroundControl app to fly it.
-
-1. Install [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) app on your computer.
-2. Connect your USB remote control to the computer.
-3. Power up the drone.
-4. Connect your computer to the appeared `flix` Wi-Fi network (password: `flixwifi`).
-5. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
-6. Go the the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate you USB remote control there.
-7. Use the USB remote control to fly the drone!
-
-> [!NOTE]
-> If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article.
-
-## Flight
-
-For both virtual sticks and a physical joystick, the default control scheme is left stick for throttle and yaw and right stick for pitch and roll:
-
-<img src="img/controls.svg" width="300">
-
-### Arming and disarming
-
-To start the motors, you should **arm** the drone. To do that, move the left stick to the bottom right corner:
-
-<img src="img/arming.svg" width="150">
-
-After that, the motors **will start spinning** at low speed, indicating that the drone is armed and ready to fly.
-
-When finished flying, **disarm** the drone, moving the left stick to the bottom left corner:
-
-<img src="img/disarming.svg" width="150">
-
-### Flight modes
-
-Flight mode is changed using mode switch on the remote control or using the command line.
-
-#### STAB
-
-The default mode is *STAB*. In this mode, the drone stabilizes its attitude (orientation). The left stick controls throttle and yaw rate, the right stick controls pitch and roll angles.
-
-> [!IMPORTANT]
-> The drone doesn't stabilize its position, so slight drift is possible. The pilot should compensate it manually.
-
-#### ACRO
-
-In this mode, the pilot controls the angular rates. This control method is difficult to fly and mostly used in FPV racing.
-
-#### MANUAL
-
-Manual mode disables all the stabilization, and the pilot inputs are passed directly to the motors. This mode is intended for testing and demonstration purposes only, and basically the drone **cannot fly in this mode**.
-
-#### AUTO
-
-In this mode, the pilot inputs are ignored (except the mode switch, if configured). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed autonomous behavior.
-
-If the pilot moves the control sticks, the drone will switch back to *STAB* mode.
-
-## Adjusting parameters
-
-You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl app. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.
-
-<img src="img/parameters.png" width="400">
-
-## CLI access
-
-In addition to accessing the drone's command line interface (CLI) using the serial port, you can also access it with QGroundControl using Wi-Fi connection. To do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*.
-
-<img src="img/cli.png" width="400">

docs/user.md

@@ -4,25 +4,6 @@ This page contains user-built drones based on the Flix project. Publish your pro
 
 ---
 
-## RoboCamp
-
-Author: RoboCamp participants.<br>
-Description: 3D-printed and wooden frames, ESP32 Mini, DC-DC buck-boost converters. BetaFPV LiteRadio 3 to control the drones via Wi-Fi connection.<br>
-Features: altitude hold, obstacle avoidance, autonomous flight elements.<br>
-Some of the designed model files: https://drive.google.com/drive/folders/18YHWGquKeIevzrMH4-OUT-zKXMETTEUu?usp=share_link.
-
-RoboCamp took place in July 2025, Saint Petersburg, where 9 participants designed and built their own drones using the Flix project, and then modified the firmware to complete specific flight tasks.
-
-See the detailed video about the event:
-
-<a href="https://youtu.be/Wd3yaorjTx0"><img width=500 src="https://img.youtube.com/vi/Wd3yaorjTx0/sddefault.jpg"></a>
-
-Built drones:
-
-<img src="img/user/robocamp/1.jpg" width=500>
-
----
-
 Author: chkroko.<br>
 Description: the first Flix drone built with **brushless motors** (DShot interface).<br>
 Features: SpeedyBee BLS 35A Mini V2 ESC, ESP32-S3 board, EMAX ECO 2 2207 1700kv motors, ICM20948V2 IMU, INA226 power monitor and Bluetooth gamepad for control.<br>

flix/cli.ino

@@ -12,7 +12,7 @@ extern const int ACRO, STAB, AUTO;
 extern float loopRate, dt;
 extern double t;
 extern uint16_t channels[16];
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
 extern int mode;
 extern bool armed;
 
@@ -34,9 +34,9 @@ const char* motd =
 "ps - show pitch/roll/yaw\n"
 "psq - show attitude quaternion\n"
 "imu - show IMU data\n"
-"arm - arm the drone\n"
+"arm - arm the drone (when no armed switch)\n"
-"disarm - disarm the drone\n"
+"disarm - disarm the drone (when no armed switch)\n"
-"stab/acro/auto - set mode\n"
+"stab/acro/auto - set mode (when no mode switch)\n"
 "rc - show RC data\n"
 "mot - show motor output\n"
 "log - dump in-RAM log\n"
@@ -107,10 +107,13 @@ void doCommand(String str, bool echo = false) {
 		Vector a = attitude.toEuler();
 		print("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z));
 	} else if (command == "psq") {
-		print("qw: %f qx: %f qy: %f qz: %f\n", attitude.w, attitude.x, attitude.y, attitude.z);
+		print("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
 	} else if (command == "imu") {
 		printIMUInfo();
+		print("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
+		print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
 		printIMUCalibration();
+		print("rate: %.0f\n", loopRate);
 		print("landed: %d\n", landed);
 	} else if (command == "arm") {
 		armed = true;
@@ -127,8 +130,8 @@ void doCommand(String str, bool echo = false) {
 		for (int i = 0; i < 16; i++) {
 			print("%u ", channels[i]);
 		}
-		print("\nroll: %g pitch: %g yaw: %g throttle: %g mode: %g\n",
+		print("\nroll: %g pitch: %g yaw: %g throttle: %g armed: %g mode: %g\n",
-			controlRoll, controlPitch, controlYaw, controlThrottle, controlMode);
+			controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode);
 		print("mode: %s\n", getModeName());
 		print("armed: %d\n", armed);
 	} else if (command == "mot") {

flix/control.ino

@@ -9,7 +9,6 @@
 #include "lpf.h"
 #include "util.h"
 
-#define ARMED_THRUST 0.1 // thrust to indicate armed state
 #define PITCHRATE_P 0.05
 #define PITCHRATE_I 0.2
 #define PITCHRATE_D 0.001
@@ -55,7 +54,7 @@ Vector torqueTarget;
 float thrustTarget;
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
 
 void control() {
 	interpretControls();
@@ -69,12 +68,13 @@ void interpretControls() {
 	// NOTE: put ACRO or MANUAL modes there if you want to use them
 	if (controlMode < 0.25) mode = STAB;
 	if (controlMode < 0.75) mode = STAB;
-	if (controlMode > 0.75) mode = STAB;
+	if (controlMode > 0.75) mode = AUTO;
+	if (controlArmed < 0.5) armed = false;
 
 	if (mode == AUTO) return; // pilot is not effective in AUTO mode
 
-	if (controlThrottle < 0.05 && controlYaw > 0.95) armed = true; // arm gesture
+	if (landed && controlThrottle == 0 && controlYaw > 0.95) armed = true; // arm gesture
-	if (controlThrottle < 0.05 && controlYaw < -0.95) armed = false; // disarm gesture
+	if (landed && controlThrottle == 0 && controlYaw < -0.95) armed = false; // disarm gesture
 
 	thrustTarget = controlThrottle;
 
@@ -86,15 +86,15 @@ void interpretControls() {
 	}
 
 	if (mode == ACRO) {
-		attitudeTarget.invalidate(); // skip attitude control
+		attitudeTarget.invalidate();
 		ratesTarget.x = controlRoll * maxRate.x;
 		ratesTarget.y = controlPitch * maxRate.y;
 		ratesTarget.z = -controlYaw * maxRate.z; // positive yaw stick means clockwise rotation in FLU
 	}
 
 	if (mode == MANUAL) { // passthrough mode
-		attitudeTarget.invalidate(); // skip attitude control
+		attitudeTarget.invalidate();
-		ratesTarget.invalidate(); // skip rate control
+		ratesTarget.invalidate();
 		torqueTarget = Vector(controlRoll, controlPitch, -controlYaw) * 0.01;
 	}
 }
@@ -120,7 +120,6 @@ void controlAttitude() {
 	ratesTarget.z = yawPID.update(yawError, dt) + ratesExtra.z;
 }
 
-
 void controlRates() {
 	if (!armed || ratesTarget.invalid()) { // skip rates control
 		rollRatePID.reset();
@@ -140,17 +139,8 @@ void controlRates() {
 void controlTorque() {
 	if (!torqueTarget.valid()) return; // skip torque control
 
-	if (!armed) {
+	if (!armed || thrustTarget < 0.05) {
-		memset(motors, 0, sizeof(motors)); // stop motors if disarmed
+		memset(motors, 0, sizeof(motors)); // stop motors if no thrust
-		return;
-	}
-
-	if (thrustTarget < 0.05) {
-		// minimal thrust to indicate armed state
-		motors[0] = ARMED_THRUST;
-		motors[1] = ARMED_THRUST;
-		motors[2] = ARMED_THRUST;
-		motors[3] = ARMED_THRUST;
 		return;
 	}
 

flix/estimate.ino

@@ -11,6 +11,8 @@
 #define WEIGHT_ACC 0.003
 #define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
 
+LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
+
 void estimate() {
 	applyGyro();
 	applyAcc();
@@ -18,7 +20,6 @@ void estimate() {
 
 void applyGyro() {
 	// filter gyro to get angular rates
-	static LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
 	rates = ratesFilter.update(gyro);
 
 	// apply rates to attitude

flix/failsafe.ino

@@ -3,6 +3,8 @@
 
 // Fail-safe functions
 
+#include "util.h"
+
 #define RC_LOSS_TIMEOUT 0.5
 #define DESCEND_TIME 3.0 // time to descend from full throttle to zero
 
@@ -23,28 +25,26 @@ void rcLossFailsafe() {
 	}
 }
 
-// Smooth descend on RC lost
-void descend() {
-	mode = STAB;
-	controlRoll = 0;
-	controlPitch = 0;
-	controlYaw = 0;
-	controlThrottle -= dt / DESCEND_TIME;
-	if (controlThrottle < 0) {
-		armed = false;
-		controlThrottle = 0;
-	}
-}
-
 // Allow pilot to interrupt automatic flight
 void autoFailsafe() {
 	static float roll, pitch, yaw, throttle;
+
 	if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) {
-		// controls changed
+		if (mode == AUTO && invalid(controlMode)) {
-		if (mode == AUTO) mode = STAB; // regain control by the pilot
+			mode = STAB; // regain control to the pilot
+		}
 	}
+
 	roll = controlRoll;
 	pitch = controlPitch;
 	yaw = controlYaw;
 	throttle = controlThrottle;
 }
+
+// Smooth descend on RC lost
+void descend() {
+	mode = AUTO;
+	thrustTarget -= dt / DESCEND_TIME;
+	if (thrustTarget < 0) thrustTarget = 0;
+	if (thrustTarget == 0) armed = false;
+}

flix/flix.ino

@@ -13,7 +13,7 @@
 double t = NAN; // current step time, s
 float dt; // time delta from previous step, s
 float controlRoll, controlPitch, controlYaw, controlThrottle; // pilot's inputs, range [-1, 1]
-float controlMode = NAN;
+float controlArmed = NAN, controlMode = NAN;
 Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s
 Vector rates; // filtered angular rates, rad/s

flix/imu.ino

@@ -122,12 +122,4 @@ void printIMUInfo() {
 	IMU.status() ? print("status: ERROR %d\n", IMU.status()) : print("status: OK\n");
 	print("model: %s\n", IMU.getModel());
 	print("who am I: 0x%02X\n", IMU.whoAmI());
-	print("rate: %.0f\n", loopRate);
-	print("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
-	print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
-	Vector rawGyro, rawAcc;
-	IMU.getGyro(rawGyro.x, rawGyro.y, rawGyro.z);
-	IMU.getAccel(rawAcc.x, rawAcc.y, rawAcc.z);
-	print("raw gyro: %f %f %f\n", rawGyro.x, rawGyro.y, rawGyro.z);
-	print("raw acc: %f %f %f\n", rawAcc.x, rawAcc.y, rawAcc.z);
 }

flix/mavlink.ino

@@ -12,10 +12,11 @@
 #define PERIOD_FAST 0.1
 #define MAVLINK_CONTROL_YAW_DEAD_ZONE 0.1f
 
+float mavlinkControlScale = 0.7;
 String mavlinkPrintBuffer;
 
 extern double controlTime;
-extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlMode;
+extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
 
 void processMavlink() {
 	sendMavlink();
@@ -35,8 +36,8 @@ void sendMavlink() {
 		lastSlow = t;
 
 		mavlink_msg_heartbeat_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, MAV_TYPE_QUADROTOR, MAV_AUTOPILOT_GENERIC,
-			(armed ? MAV_MODE_FLAG_SAFETY_ARMED : 0) |
+			(armed * MAV_MODE_FLAG_SAFETY_ARMED) |
-			((mode == STAB) ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0) |
+			(mode == STAB) * MAV_MODE_FLAG_STABILIZE_ENABLED |
 			((mode == AUTO) ? MAV_MODE_FLAG_AUTO_ENABLED : MAV_MODE_FLAG_MANUAL_INPUT_ENABLED),
 			mode, MAV_STATE_STANDBY);
 		sendMessage(&msg);
@@ -100,10 +101,11 @@ void handleMavlink(const void *_msg) {
 		if (m.target && m.target != SYSTEM_ID) return; // 0 is broadcast
 
 		controlThrottle = m.z / 1000.0f;
-		controlPitch = m.x / 1000.0f;
+		controlPitch = m.x / 1000.0f * mavlinkControlScale;
-		controlRoll = m.y / 1000.0f;
+		controlRoll = m.y / 1000.0f * mavlinkControlScale;
-		controlYaw = m.r / 1000.0f;
+		controlYaw = m.r / 1000.0f * mavlinkControlScale;
-		controlMode = NAN;
+		controlMode = NAN; // keep mode
+		controlArmed = NAN;
 		controlTime = t;
 
 		if (abs(controlYaw) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controlYaw = 0;
@@ -193,6 +195,7 @@ void handleMavlink(const void *_msg) {
 		ratesExtra = Vector(0, 0, 0);
 
 		if (m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE) attitudeTarget.invalidate();
+
 		armed = m.thrust > 0;
 	}
 
@@ -203,11 +206,7 @@ void handleMavlink(const void *_msg) {
 		mavlink_msg_set_actuator_control_target_decode(&msg, &m);
 		if (m.target_system && m.target_system != SYSTEM_ID) return;
 
-		attitudeTarget.invalidate();
-		ratesTarget.invalidate();
-		torqueTarget.invalidate();
 		memcpy(motors, m.controls, sizeof(motors)); // copy motor thrusts
-		armed = motors[0] > 0 || motors[1] > 0 || motors[2] > 0 || motors[3] > 0;
 	}
 
 	// Handle commands
@@ -215,32 +214,29 @@ void handleMavlink(const void *_msg) {
 		mavlink_command_long_t m;
 		mavlink_msg_command_long_decode(&msg, &m);
 		if (m.target_system && m.target_system != SYSTEM_ID) return;
+		mavlink_message_t ack;
 		mavlink_message_t response;
-		bool accepted = false;
 
 		if (m.command == MAV_CMD_REQUEST_MESSAGE && m.param1 == MAVLINK_MSG_ID_AUTOPILOT_VERSION) {
-			accepted = true;
+			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg.sysid, msg.compid);
+			sendMessage(&ack);
 			mavlink_msg_autopilot_version_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &response,
 				MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | MAV_PROTOCOL_CAPABILITY_MAVLINK2, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0);
 			sendMessage(&response);
 		}
 
-		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
-			if (m.param1 && controlThrottle > 0.05) return; // don't arm if throttle is not low
-			accepted = true;
-			armed = m.param1 == 1;
-		}
-
 		if (m.command == MAV_CMD_DO_SET_MODE) {
 			if (!(m.param2 >= 0 && m.param2 <= AUTO)) return; // incorrect mode
-			accepted = true;
 			mode = m.param2;
+			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg.sysid, msg.compid);
+			sendMessage(&ack);
 		}
 
-		// send command ack
+		if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
-		mavlink_message_t ack;
+			armed = m.param1 == 1;
-		mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, accepted ? MAV_RESULT_ACCEPTED : MAV_RESULT_UNSUPPORTED, UINT8_MAX, 0, msg.sysid, msg.compid);
+			mavlink_msg_command_ack_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &ack, m.command, MAV_RESULT_ACCEPTED, UINT8_MAX, 0, msg.sysid, msg.compid);
-		sendMessage(&ack);
+			sendMessage(&ack);
+		}
 	}
 }
 

flix/parameters.ino

@@ -70,7 +70,12 @@ Parameter parameters[] = {
 	{"RC_PITCH", &pitchChannel},
 	{"RC_THROTTLE", &throttleChannel},
 	{"RC_YAW", &yawChannel},
+	{"RC_ARMED", &armedChannel},
 	{"RC_MODE", &modeChannel},
+#if WIFI_ENABLED
+	// MAVLink
+	{"MAV_CTRL_SCALE", &mavlinkControlScale},
+#endif
 };
 
 void setupParameters() {

flix/quaternion.h

@@ -79,7 +79,6 @@ public:
 		z = NAN;
 	}
 
-
 	float norm() const {
 		return sqrt(w * w + x * x + y * y + z * z);
 	}
@@ -132,31 +131,29 @@ public:
 		return euler;
 	}
 
-	float getRoll() const {
-		return toEuler().x;
-	}
-
-	float getPitch() const {
-		return toEuler().y;
-	}
-
 	float getYaw() const {
-		return toEuler().z;
+		// https://github.com/ros/geometry2/blob/589caf083cae9d8fae7effdb910454b4681b9ec1/tf2/include/tf2/impl/utils.h#L122
-	}
+		float yaw;
-
+		float sqx = x * x;
-	void setRoll(float roll) {
+		float sqy = y * y;
-		Vector euler = toEuler();
+		float sqz = z * z;
-		*this = Quaternion::fromEuler(Vector(roll, euler.y, euler.z));
+		float sqw = w * w;
-	}
+		double sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw);
-
+		if (sarg <= -0.99999) {
-	void setPitch(float pitch) {
+			yaw = -2 * atan2(y, x);
-		Vector euler = toEuler();
+		} else if (sarg >= 0.99999) {
-		*this = Quaternion::fromEuler(Vector(euler.x, pitch, euler.z));
+			yaw = 2 * atan2(y, x);
+		} else {
+			yaw = atan2(2 * (x * y + w * z), sqw + sqx - sqy - sqz);
+		}
+		return yaw;
 	}
 
 	void setYaw(float yaw) {
+		// TODO: optimize?
 		Vector euler = toEuler();
-		*this = Quaternion::fromEuler(Vector(euler.x, euler.y, yaw));
+		euler.z = yaw;
+		(*this) = Quaternion::fromEuler(euler);
 	}
 
 	Quaternion operator * (const Quaternion& q) const {

flix/rc.ino

@@ -14,7 +14,7 @@ float channelZero[16]; // calibration zero values
 float channelMax[16]; // calibration max values
 
 // Channels mapping (using float to store in parameters):
-float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, modeChannel = NAN;
+float rollChannel = NAN, pitchChannel = NAN, throttleChannel = NAN, yawChannel = NAN, armedChannel = NAN, modeChannel = NAN;
 
 void setupRC() {
 	print("Setup RC\n");
@@ -42,6 +42,7 @@ void normalizeRC() {
 	controlPitch = pitchChannel >= 0 ? controls[(int)pitchChannel] : NAN;
 	controlYaw = yawChannel >= 0 ? controls[(int)yawChannel] : NAN;
 	controlThrottle = throttleChannel >= 0 ? controls[(int)throttleChannel] : NAN;
+	controlArmed = armedChannel >= 0 ? controls[(int)armedChannel] : NAN;
 	controlMode = modeChannel >= 0 ? controls[(int)modeChannel] : NAN;
 }
 
@@ -49,15 +50,16 @@ void calibrateRC() {
 	uint16_t zero[16];
 	uint16_t center[16];
 	uint16_t max[16];
-	print("1/8 Calibrating RC: put all switches to default positions [3 sec]\n");
+	print("1/9 Calibrating RC: put all switches to default positions [3 sec]\n");
 	pause(3);
-	calibrateRCChannel(NULL, zero, zero, "2/8 Move sticks [3 sec]\n...     ...\n...     .o.\n.o.     ...\n");
+	calibrateRCChannel(NULL, zero, zero, "2/9 Move sticks [3 sec]\n...     ...\n...     .o.\n.o.     ...\n");
-	calibrateRCChannel(NULL, center, center, "3/8 Move sticks [3 sec]\n...     ...\n.o.     .o.\n...     ...\n");
+	calibrateRCChannel(NULL, center, center, "3/9 Move sticks [3 sec]\n...     ...\n.o.     .o.\n...     ...\n");
-	calibrateRCChannel(&throttleChannel, zero, max, "4/8 Move sticks [3 sec]\n.o.     ...\n...     .o.\n...     ...\n");
+	calibrateRCChannel(&throttleChannel, zero, max, "4/9 Move sticks [3 sec]\n.o.     ...\n...     .o.\n...     ...\n");
-	calibrateRCChannel(&yawChannel, center, max, "5/8 Move sticks [3 sec]\n...     ...\n..o     .o.\n...     ...\n");
+	calibrateRCChannel(&yawChannel, center, max, "5/9 Move sticks [3 sec]\n...     ...\n..o     .o.\n...     ...\n");
-	calibrateRCChannel(&pitchChannel, zero, max, "6/8 Move sticks [3 sec]\n...     .o.\n...     ...\n.o.     ...\n");
+	calibrateRCChannel(&pitchChannel, zero, max, "6/9 Move sticks [3 sec]\n...     .o.\n...     ...\n.o.     ...\n");
-	calibrateRCChannel(&rollChannel, zero, max, "7/8 Move sticks [3 sec]\n...     ...\n...     ..o\n.o.     ...\n");
+	calibrateRCChannel(&rollChannel, zero, max, "7/9 Move sticks [3 sec]\n...     ...\n...     ..o\n.o.     ...\n");
-	calibrateRCChannel(&modeChannel, zero, max, "8/8 Put mode switch to max [3 sec]\n");
+	calibrateRCChannel(&armedChannel, zero, max, "8/9 Switch to armed [3 sec]\n");
+	calibrateRCChannel(&modeChannel, zero, max, "9/9 Disarm and switch mode to max [3 sec]\n");
 	printRCCalibration();
 }
 
@@ -92,5 +94,6 @@ void printRCCalibration() {
 	print("Pitch     %-7g%-7g%-7g\n", pitchChannel, pitchChannel >= 0 ? channelZero[(int)pitchChannel] : NAN, pitchChannel >= 0 ? channelMax[(int)pitchChannel] : NAN);
 	print("Yaw       %-7g%-7g%-7g\n", yawChannel, yawChannel >= 0 ? channelZero[(int)yawChannel] : NAN, yawChannel >= 0 ? channelMax[(int)yawChannel] : NAN);
 	print("Throttle  %-7g%-7g%-7g\n", throttleChannel, throttleChannel >= 0 ? channelZero[(int)throttleChannel] : NAN, throttleChannel >= 0 ? channelMax[(int)throttleChannel] : NAN);
+	print("Armed     %-7g%-7g%-7g\n", armedChannel, armedChannel >= 0 ? channelZero[(int)armedChannel] : NAN, armedChannel >= 0 ? channelMax[(int)armedChannel] : NAN);
 	print("Mode      %-7g%-7g%-7g\n", modeChannel, modeChannel >= 0 ? channelZero[(int)modeChannel] : NAN, modeChannel >= 0 ? channelMax[(int)modeChannel] : NAN);
 }

flix/vector.h

@@ -35,7 +35,6 @@ public:
 		z = NAN;
 	}
 
-
 	float norm() const {
 		return sqrt(x * x + y * y + z * z);
 	}

flix/wifi.ino

@@ -13,7 +13,6 @@
 #define WIFI_PASSWORD "flixwifi"
 #define WIFI_UDP_PORT 14550
 #define WIFI_UDP_REMOTE_PORT 14550
-#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
 
 WiFiUDP udp;
 
@@ -25,7 +24,7 @@ void setupWiFi() {
 
 void sendWiFi(const uint8_t *buf, int len) {
 	if (WiFi.softAPIP() == IPAddress(0, 0, 0, 0) && WiFi.status() != WL_CONNECTED) return;
-	udp.beginPacket(udp.remoteIP() ? udp.remoteIP() : WIFI_UDP_REMOTE_ADDR, WIFI_UDP_REMOTE_PORT);
+	udp.beginPacket(WiFi.softAPBroadcastIP(), WIFI_UDP_REMOTE_PORT);
 	udp.write(buf, len);
 	udp.endPacket();
 }

gazebo/README.md

@@ -4,7 +4,7 @@
 
 ## Building and running
 
-See [building and running instructions](../docs/usage.md#simulation).
+See [building and running instructions](../docs/build.md#simulation).
 
 ## Code structure
 

gazebo/flix.h

@@ -16,7 +16,7 @@ double t = NAN;
 float dt;
 float motors[4];
 float controlRoll, controlPitch, controlYaw, controlThrottle = NAN;
-float controlMode = NAN;
+float controlArmed = NAN, controlMode = NAN;
 Vector acc;
 Vector gyro;
 Vector rates;
@@ -56,8 +56,8 @@ void sendMavlinkPrint();
 inline Quaternion fluToFrd(const Quaternion &q);
 void failsafe();
 void rcLossFailsafe();
-void descend();
 void autoFailsafe();
+void descend();
 int parametersCount();
 const char *getParameterName(int index);
 float getParameter(int index);

gazebo/wifi.h

@@ -13,7 +13,6 @@
 
 #define WIFI_UDP_PORT 14580
 #define WIFI_UDP_REMOTE_PORT 14550
-#define WIFI_UDP_REMOTE_ADDR "255.255.255.255"
 
 int wifiSocket;
 
@@ -36,7 +35,7 @@ void sendWiFi(const uint8_t *buf, int len) {
 	if (wifiSocket == 0) setupWiFi();
 	sockaddr_in addr; // remote address
 	addr.sin_family = AF_INET;
-	addr.sin_addr.s_addr = inet_addr(WIFI_UDP_REMOTE_ADDR);
+	addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
 	addr.sin_port = htons(WIFI_UDP_REMOTE_PORT);
 	sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr));
 }

tools/pyflix/README.md

@@ -66,14 +66,13 @@ gyro = flix.wait('gyro')  # wait for gyroscope update
 attitude = flix.wait('attitude', timeout=3)  # wait for attitude update, raise TimeoutError after 3 seconds
 ```
 
-The second argument (`value`) specifies a condition for filtering events. It can be either an expected value or a callable:
+The `value` argument specifies a condition for filtering events. It can be either an expected value or a callable:
 
 ```python
-flix.wait('armed', True)  # wait until armed
+flix.wait('armed', value=True)  # wait until armed
-flix.wait('armed', False)  # wait until disarmed
+flix.wait('armed', value=False)  # wait until disarmed
-flix.wait('mode', 'AUTO')  # wait until flight mode is switched to AUTO
+flix.wait('motors', value=lambda motors: not any(motors))  # wait until all motors stop
-flix.wait('motors', lambda motors: not any(motors))  # wait until all motors stop
+flix.wait('attitude_euler', value=lambda att: att[0] > 0)  # wait until roll angle is positive
-flix.wait('attitude_euler', lambda att: att[0] > 0)  # wait until roll angle is positive
 ```
 
 Full list of events:
@@ -108,7 +107,7 @@ Get and set firmware parameters using `get_param` and `set_param` methods:
 
 ```python
 pitch_p = flix.get_param('PITCH_P')  # get parameter value
-flix.set_param('PITCH_P', 5)         # set parameter value
+flix.set_param('PITCH_P', 5)      # set parameter value
 ```
 
 Execute CLI commands using `cli` method. This method returns command response:
@@ -122,54 +121,17 @@ flix.cli('reboot')       # reboot the drone
 > [!TIP]
 > Use `help` command to get the list of available commands.
 
-You can imitate pilot's controls using `set_controls` method:
-
-```python
-flix.set_controls(roll=0, pitch=0, yaw=0, throttle=0.6)
-```
-
-> [!WARNING]
-> This method **is not intended for automatic flights**, only for adding support for a custom pilot input device.
-
 ### Automatic flight
 
-To perform automatic flight, switch the mode to *AUTO*, either from the remote control, or from the code:
+The flight control feature is in development. List of methods intended for automatic flight control:
 
-```python
+* `set_position`
-flix.set_mode('AUTO')
+* `set_velocity`
-```
+* `set_attitude`
-
+* `set_rates`
-In this mode you can set flight control targets. Setting attitude target:
+* `set_motors`
-
+* `set_controls`
-```python
+* `set_mode`
-flix.set_attitude([0.1, 0.2, 0.3], 0.6)  # set target roll, pitch, yaw and thrust
-flix.set_attitude([1, 0, 0, 0], 0.6)  # set target attitude quaternion and thrust
-```
-
-Setting angular rates target:
-
-```python
-flix.set_rates([0.1, 0.2, 0.3], 0.6)  # set target roll rate, pitch rate, yaw rate and thrust
-```
-
-You also can control raw motors outputs directly:
-
-```python
-flix.set_motors([0.5, 0.5, 0.5, 0.5])  # set motors outputs in range [0, 1]
-```
-
-In *AUTO* mode, the drone will arm automatically if the thrust is greater than zero, and disarm if thrust is zero. Therefore, to disarm the drone, set thrust to zero:
-
-```python
-flix.set_attitude([0, 0, 0], 0)  # disarm the drone
-```
-
-The following methods are in development and are not functional yet:
-
-* `set_position` — set target position.
-* `set_velocity` — set target velocity.
-
-To exit from *AUTO* mode move control sticks and the drone will switch to *STAB* mode.
 
 ## Usage alongside QGroundControl
 
@@ -189,8 +151,6 @@ You can use the Flix library alongside the QGroundControl app, using a proxy mod
    * *Port*: 14560
 4. Restart QGroundControl.
 
-<img src="../../docs/img/qgc-proxy.png" width="300">
-
 Now you can run `pyflix` scripts and QGroundControl simultaneously.
 
 ## Tools

tools/pyflix/flix.py

@@ -176,7 +176,6 @@ class Flix:
         # TODO: to be removed: the old way of passing motor outputs
         if isinstance(msg, mavlink.MAVLink_actuator_output_status_message):
             self.motors = msg.actuator[:4]  # type: ignore
-            self._trigger('motors', self.motors)
 
         if isinstance(msg, mavlink.MAVLink_scaled_imu_message):
             self.acc = self._mavlink_to_flu([msg.xacc / 1000, msg.yacc / 1000, msg.zacc / 1000])
@@ -336,7 +335,7 @@ class Flix:
         if not all(0 <= m <= 1 for m in motors):
             raise ValueError('motors must be in range [0, 1]')
         for _ in range(2):  # duplicate to ensure delivery
-            self.mavlink.set_actuator_control_target_send(int(time.time() * 1000000), 0, self.system_id, 0, motors + [0] * 4)  # type: ignore
+            self.mavlink.set_actuator_control_target_send(time.time() * 1000, 0, self.system_id, 0, motors + [0] * 4)  # type: ignore
 
     def set_controls(self, roll: float, pitch: float, yaw: float, throttle: float):
         """Send pilot's controls. Warning: not intended for automatic control"""
@@ -344,7 +343,7 @@ class Flix:
             raise ValueError('roll, pitch, yaw must be in range [-1, 1]')
         if not 0 <= throttle <= 1:
             raise ValueError('throttle must be in range [0, 1]')
-        self.mavlink.manual_control_send(self.system_id, int(roll * 1000), int(pitch * 1000), int(yaw * 1000), int(throttle * 1000), 0)  # type: ignore
+        self.mavlink.manual_control_send(self.system_id, roll * 1000, pitch * 1000, yaw * 1000, throttle * 1000, 0)  # type: ignore
 
     def cli(self, cmd: str, wait_response: bool = True) -> str:
         cmd = cmd.strip()

tools/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "pyflix"
-version = "0.7"
+version = "0.5"
 description = "Python API for Flix drone"
 authors = [{ name="Oleg Kalachev", email="okalachev@gmail.com" }]
 license = "MIT"