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README.md
22
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).
|
||||
* Control using USB gamepad, remote control or smartphone.
|
||||
* Simple and clean source code in Arduino.
|
||||
* 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.
|
||||
|
||||
<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):
|
||||
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|
|
||||
|<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|
|
||||
|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">(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:
|
||||
|
||||
|
||||
@@ -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 `loop()` работает на частоте 1000 Гц. Передача данных между подсистемами происходит через глобальные переменные:
|
||||
Главный цикл 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.
|
||||
* [`imu.ino`](https://github.com/okalachev/flix/blob/master/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.
|
||||
* [`estimate.ino`](https://github.com/okalachev/flix/blob/master/flix/estimate.ino) — оценка ориентации дрона, комплементарный фильтр.
|
||||
* [`control.ino`](https://github.com/okalachev/flix/blob/master/flix/control.ino) — подсистема управления, трехмерный двухуровневый каскадный ПИД-регулятор.
|
||||
* [`motors.ino`](https://github.com/okalachev/flix/blob/master/flix/motors.ino) — выход PWM на моторы.
|
||||
* [`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.
|
||||
* [`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/canonical/flix/imu.ino) — чтение данных с датчика IMU (гироскоп и акселерометр), калибровка IMU.
|
||||
* [`rc.ino`](https://github.com/okalachev/flix/blob/canonical/flix/rc.ino) — чтение данных с RC-приемника, калибровка RC.
|
||||
* [`mavlink.ino`](https://github.com/okalachev/flix/blob/canonical/flix/mavlink.ino) — взаимодействие с QGroundControl через MAVLink.
|
||||
* [`estimate.ino`](https://github.com/okalachev/flix/blob/canonical/flix/estimate.ino) — оценка ориентации дрона, комплементарный фильтр.
|
||||
* [`control.ino`](https://github.com/okalachev/flix/blob/canonical/flix/control.ino) — управление ориентацией и угловыми скоростями дрона, трехмерный двухуровневый каскадный PID-регулятор.
|
||||
* [`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.
|
||||
* [`pid.h`](https://github.com/okalachev/flix/blob/master/flix/pid.h) — ПИД-регулятор.
|
||||
* [`lpf.h`](https://github.com/okalachev/flix/blob/master/flix/lpf.h) — фильтр 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`.
|
||||
* [`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/canonical/flix/pid.h) — реализация общего ПИД-регулятора.
|
||||
* [`lpf.h`](https://github.com/okalachev/flix/blob/canonical/flix/lpf.h) — реализация общего фильтра нижних частот.
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
usage.md
|
||||
205
docs/build.md
Normal file
205
docs/build.md
Normal file
@@ -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.
|
||||
@@ -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].
|
||||
* `motors` *(float[])* — motor outputs, range [0, 1].
|
||||
* `controlRoll`, `controlPitch`, ... *(float[])* — pilot's control inputs, range [-1, 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.
|
||||
* [`control.ino`](../flix/control.ino) — control subsystem, three-dimensional two-level cascade PID controller.
|
||||
* [`motors.ino`](../flix/motors.ino) — PWM motor output control.
|
||||
* [`mavlink.ino`](../flix/mavlink.ino) — interaction with QGroundControl or [pyflix](../tools/pyflix) via MAVLink protocol.
|
||||
* [`estimate.ino`](../flix/estimate.ino) — drone's attitude estimation, complementary filter.
|
||||
* [`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 outputs control.
|
||||
|
||||
Utility files:
|
||||
Utility files include:
|
||||
|
||||
* [`vector.h`](../flix/vector.h), [`quaternion.h`](../flix/quaternion.h) — vector and quaternion libraries.
|
||||
* [`pid.h`](../flix/pid.h) — generic PID controller.
|
||||
* [`lpf.h`](../flix/lpf.h) — generic low-pass filter.
|
||||
|
||||
### 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.
|
||||
* [`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 implementation.
|
||||
* [`lpf.h`](../flix/lpf.h) — generic low-pass filter implementation.
|
||||
|
||||
## Building
|
||||
|
||||
See build instructions in [usage.md](usage.md).
|
||||
See build instructions in [build.md](build.md).
|
||||
|
||||
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|
||||
|
||||
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
|
||||
|
||||
|
||||
249
docs/usage.md
249
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">
|
||||
19
docs/user.md
19
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>
|
||||
|
||||
17
flix/cli.ino
17
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"
|
||||
"disarm - disarm the drone\n"
|
||||
"stab/acro/auto - set mode\n"
|
||||
"arm - arm the drone (when no armed switch)\n"
|
||||
"disarm - disarm the drone (when no armed switch)\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",
|
||||
controlRoll, controlPitch, controlYaw, controlThrottle, controlMode);
|
||||
print("\nroll: %g pitch: %g yaw: %g throttle: %g armed: %g mode: %g\n",
|
||||
controlRoll, controlPitch, controlYaw, controlThrottle, controlArmed, controlMode);
|
||||
print("mode: %s\n", getModeName());
|
||||
print("armed: %d\n", armed);
|
||||
} else if (command == "mot") {
|
||||
|
||||
@@ -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 (controlThrottle < 0.05 && controlYaw < -0.95) armed = false; // disarm gesture
|
||||
if (landed && controlThrottle == 0 && controlYaw > 0.95) armed = true; // arm 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
|
||||
ratesTarget.invalidate(); // skip rate control
|
||||
attitudeTarget.invalidate();
|
||||
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) {
|
||||
memset(motors, 0, sizeof(motors)); // stop motors if disarmed
|
||||
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;
|
||||
if (!armed || thrustTarget < 0.05) {
|
||||
memset(motors, 0, sizeof(motors)); // stop motors if no thrust
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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) mode = STAB; // regain control by the pilot
|
||||
if (mode == AUTO && invalid(controlMode)) {
|
||||
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;
|
||||
}
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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);
|
||||
}
|
||||
|
||||
@@ -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) |
|
||||
((mode == STAB) ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0) |
|
||||
(armed * MAV_MODE_FLAG_SAFETY_ARMED) |
|
||||
(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;
|
||||
controlRoll = m.y / 1000.0f;
|
||||
controlYaw = m.r / 1000.0f;
|
||||
controlMode = NAN;
|
||||
controlPitch = m.x / 1000.0f * mavlinkControlScale;
|
||||
controlRoll = m.y / 1000.0f * mavlinkControlScale;
|
||||
controlYaw = m.r / 1000.0f * mavlinkControlScale;
|
||||
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
|
||||
@@ -215,33 +214,30 @@ 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
|
||||
mavlink_message_t ack;
|
||||
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);
|
||||
if (m.command == MAV_CMD_COMPONENT_ARM_DISARM) {
|
||||
armed = m.param1 == 1;
|
||||
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 shell output to GCS
|
||||
|
||||
@@ -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() {
|
||||
|
||||
@@ -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;
|
||||
float sqy = y * y;
|
||||
float sqz = z * z;
|
||||
float sqw = w * w;
|
||||
double sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw);
|
||||
if (sarg <= -0.99999) {
|
||||
yaw = -2 * atan2(y, x);
|
||||
} else if (sarg >= 0.99999) {
|
||||
yaw = 2 * atan2(y, x);
|
||||
} else {
|
||||
yaw = atan2(2 * (x * y + w * z), sqw + sqx - sqy - sqz);
|
||||
}
|
||||
|
||||
void setRoll(float roll) {
|
||||
Vector euler = toEuler();
|
||||
*this = Quaternion::fromEuler(Vector(roll, euler.y, euler.z));
|
||||
}
|
||||
|
||||
void setPitch(float pitch) {
|
||||
Vector euler = toEuler();
|
||||
*this = Quaternion::fromEuler(Vector(euler.x, pitch, euler.z));
|
||||
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 {
|
||||
|
||||
21
flix/rc.ino
21
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, center, center, "3/8 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(&yawChannel, center, max, "5/8 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(&rollChannel, zero, max, "7/8 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(NULL, zero, zero, "2/9 Move sticks [3 sec]\n... ...\n... .o.\n.o. ...\n");
|
||||
calibrateRCChannel(NULL, center, center, "3/9 Move sticks [3 sec]\n... ...\n.o. .o.\n... ...\n");
|
||||
calibrateRCChannel(&throttleChannel, zero, max, "4/9 Move sticks [3 sec]\n.o. ...\n... .o.\n... ...\n");
|
||||
calibrateRCChannel(&yawChannel, center, max, "5/9 Move sticks [3 sec]\n... ...\n..o .o.\n... ...\n");
|
||||
calibrateRCChannel(&pitchChannel, zero, max, "6/9 Move sticks [3 sec]\n... .o.\n... ...\n.o. ...\n");
|
||||
calibrateRCChannel(&rollChannel, zero, max, "7/9 Move sticks [3 sec]\n... ...\n... ..o\n.o. ...\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);
|
||||
}
|
||||
|
||||
@@ -35,7 +35,6 @@ public:
|
||||
z = NAN;
|
||||
}
|
||||
|
||||
|
||||
float norm() const {
|
||||
return sqrt(x * x + y * y + z * z);
|
||||
}
|
||||
|
||||
@@ -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();
|
||||
}
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -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);
|
||||
|
||||
@@ -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));
|
||||
}
|
||||
|
||||
@@ -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', False) # wait until disarmed
|
||||
flix.wait('mode', 'AUTO') # wait until flight mode is switched to AUTO
|
||||
flix.wait('motors', lambda motors: not any(motors)) # wait until all motors stop
|
||||
flix.wait('attitude_euler', lambda att: att[0] > 0) # wait until roll angle is positive
|
||||
flix.wait('armed', value=True) # wait until armed
|
||||
flix.wait('armed', value=False) # wait until disarmed
|
||||
flix.wait('motors', value=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
|
||||
```
|
||||
|
||||
Full list of events:
|
||||
@@ -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
|
||||
flix.set_mode('AUTO')
|
||||
```
|
||||
|
||||
In this mode you can set flight control targets. Setting attitude target:
|
||||
|
||||
```python
|
||||
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.
|
||||
* `set_position`
|
||||
* `set_velocity`
|
||||
* `set_attitude`
|
||||
* `set_rates`
|
||||
* `set_motors`
|
||||
* `set_controls`
|
||||
* `set_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
|
||||
|
||||
@@ -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()
|
||||
|
||||
@@ -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"
|
||||
|
||||
Reference in New Issue
Block a user