Add espnow-proxy build to ci

(Setting alpha = 1 efficiently disables the filter.)
Filtering does more harm than good in voltage monitoring.

.github/workflows/build.yml

@@ -27,6 +27,8 @@ jobs:
       run: make BOARD=esp32:esp32:esp32c3
     - name: Build firmware for ESP32-S3
       run: make BOARD=esp32:esp32:esp32s3
+    - name: Build espnow-proxy
+      run: arduino-cli compile --fqbn esp32:esp32:esp32 tools/espnow-proxy
     - name: Check c_cpp_properties.json
       run: tools/check_c_cpp_properties.py
 

Makefile

@@ -1,10 +1,10 @@
-BOARD = esp32:esp32:d1_mini32:DebugLevel=error
+BOARD = esp32:esp32:d1_mini32
 PORT := $(strip $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP21* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-* /dev/cu.usbmodem*))
 
 export ARDUINO_NETWORK_CONNECTION_TIMEOUT := 1h
 
 build: .core .libs
-	arduino-cli compile --fqbn $(BOARD) flix
+	arduino-cli compile --fqbn $(BOARD) --build-property "build.core_debug_level=1" flix
 
 upload: build
 	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix

docs/usage.md

@@ -61,7 +61,7 @@ You can build and upload the firmware using either **Arduino IDE** (easier for b
    For ESP32-S3/ESP32-C3 boards, set the appropriate [FQBN](https://docs.arduino.cc/arduino-cli/FAQ/#whats-the-fqbn-string) using `BOARD` parameter:
 
    ```bash
-   make BOARD=esp32:esp32:esp32s3:DebugLevel=error,FlashSize=4M,CDCOnBoot=cdc upload
+   make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc upload
    ```
 
 See other available Make commands in [Makefile](../Makefile).
@@ -71,15 +71,6 @@ See other available Make commands in [Makefile](../Makefile).
 
 ## Before first flight
 
-### Choose the IMU model
-
-In case if using different IMU model than MPU9250, change `imu` variable declaration in the `imu.ino`:
-
-```cpp
-ICM20948 imu(SPI);  // For ICM-20948
-MPU6050 imu(Wire);  // For MPU-6050
-```
-
 ### Connect using QGroundControl
 
 QGroundControl is a ground control station software that can be used to monitor and control the drone.
@@ -120,6 +111,19 @@ The drone is configured using parameters. To access and modify them, go to the Q
 
 You can also work with parameters using `p` command in the console. Parameter names are case-insensitive.
 
+### Configure the IMU
+
+1. Configure the following parameters for the used IMU:
+   * `IMU_MODEL` — IMU model (0 for disabled, 1 for MPU-9250/MPU-6500¹, 2 for ICM-20948, 3 for MPU-6050, 4 for ICM-40609-D).
+   * `IMU_BUS` — communication bus (0 for SPI, 1 for I²C).
+   * `IMU_PIN_SCK`, `IMU_PIN_MISO`, `IMU_PIN_MOSI`, `IMU_PIN_CS` — SPI pin numbers.
+   * `IMU_PIN_SCL`, `IMU_PIN_SDA` — I²C pin numbers.
+   * `IMU_PIN_INT` — IMU data ready pin number (-1 if not used).
+2. Reboot the drone.
+3. Check the IMU is working using `imu` command in the console (see details below).
+
+¹ — not to be confused with MPU-6050.
+
 ### Define IMU orientation
 
 The IMU orientation (relative to the drone's axes) is defined using the parameters: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`.
@@ -198,7 +202,7 @@ After this setup, you should see the battery voltage in QGroundControl top panel
 
 ## Setup remote control
 
-There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi).
+There are several ways to control the drone's flight: using **smartphone** (Wi-Fi), using **SBUS remote control**, or using **USB remote control** (Wi-Fi/ESP-NOW).
 
 ### Control with a smartphone
 
@@ -243,7 +247,7 @@ If your drone doesn't have RC receiver installed, you can use USB remote control
 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.
+6. Go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Joystick*. Calibrate your USB remote control there.
 7. Use the USB remote control to fly the drone!
 
 ## Flight
@@ -339,7 +343,7 @@ To setup ESP-NOW communication:
    espnow 7a:c8:e3:eb:bf:e9 &PiuSysxP9+$L&5E
    ```
 
-   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) io 6 (encrypted).
+   Run this line as a console command on each drone you want to bind to this proxy board. [The maximum number](https://github.com/espressif/esp-idf/blob/e95cab4be8fd293e3f3323181e7a2280874da6f7/components/esp_wifi/include/esp_now.h#L32-L33) of simultaneously connected drones is 20 (unencrypted) or 6 (encrypted).
 
 3. Set the `WIFI_MODE` parameter to `3` on the drone:
 
@@ -356,7 +360,7 @@ To setup ESP-NOW communication:
 
 ## Flight log
 
-After the flight, you can download the flight log for analysis wirelessly. Use the following command on your computer for that:
+After the flight, you can download the flight log wirelessly for analysis. Use the following command on your computer for that:
 
 ```bash
 make log

flix/imu.ino

@@ -4,12 +4,16 @@
 // Work with the IMU sensor
 
 #include <SPI.h>
+#include <Wire.h>
 #include <FlixPeriph.h>
 #include "vector.h"
 #include "filter.h"
 #include "util.h"
 
-MPU9250 imu(SPI);
+IMU imu;
+int imuModel = 1, imuBus = 0;
+int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = -1, imuIntPin = -1;
+int imuSdaPin = SDA, imuSclPin = SCL;
 Vector imuRotation(0, 0, PI / 2); // imu orientation as Euler angles
 
 Vector gyro; // gyroscope output, rad/s
@@ -23,7 +27,15 @@ LowPassFilter<Vector> gyroBiasFilter(0.001);
 
 void setupIMU() {
 	print("Setup IMU\n");
-	imu.begin();
+	if (imuBus == 0 && imuCsPin > 0) {
+		// SPI connection
+		SPI.begin(imuSckPin, imuMisoPin, imuMosiPin);
+		imu.begin((IMU::Model)imuModel, SPI, imuCsPin, imuIntPin);
+	} else if (imuBus == 1) {
+		// I2C connection
+		Wire.setPins(imuSdaPin, imuSclPin);
+		imu.begin((IMU::Model)imuModel, Wire, imuIntPin);
+	}
 	configureIMU();
 }
 
@@ -125,6 +137,7 @@ void printIMUInfo() {
 	print("model: %s\n", imu.getModel());
 	print("who am I: 0x%02X\n", imu.whoAmI());
 	print("rate: %.0f\n", loopRate);
+	print("interrupt mode: %s\n", imuIntPin != -1 ? "pin" : "timer");
 	print("temperature: %.1f °C\n", imu.getTemp());
 	print("gyro: %f %f %f\n", gyro.x, gyro.y, gyro.z);
 	print("acc: %f %f %f\n", acc.x, acc.y, acc.z);

flix/mavlink.ino

@@ -223,18 +223,24 @@ void handleMavlink(const void *_msg) {
 		mavlink_msg_set_attitude_target_decode(&msg, &m);
 		if (m.target_system && m.target_system != mavlinkSysId) return;
 
-		// copy attitude, rates and thrust targets
-		ratesTarget.x = m.body_roll_rate;
-		ratesTarget.y = -m.body_pitch_rate; // convert to flu
-		ratesTarget.z = -m.body_yaw_rate;
-		attitudeTarget.w = m.q[0];
-		attitudeTarget.x = m.q[1];
-		attitudeTarget.y = -m.q[2];
-		attitudeTarget.z = -m.q[3];
-		thrustTarget = m.thrust;
-		ratesExtra = Vector(0, 0, 0);
+		if (!(m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE)) {
+			// Attitude control
+			attitudeTarget.w = m.q[0];
+			attitudeTarget.x = m.q[1];
+			attitudeTarget.y = -m.q[2];
+			attitudeTarget.z = -m.q[3];
+			ratesExtra.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? 0 : m.body_roll_rate;
+			ratesExtra.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? 0 : -m.body_pitch_rate; // convert to flu
+			ratesExtra.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? 0 : -m.body_yaw_rate;
+		} else {
+			// Rates control
+			attitudeTarget.invalidate();
+			ratesTarget.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? ratesTarget.x : m.body_roll_rate;
+			ratesTarget.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? ratesTarget.y : -m.body_pitch_rate;
+			ratesTarget.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? ratesTarget.z : -m.body_yaw_rate;
+		}
 
-		if (m.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE) attitudeTarget.invalidate();
+		thrustTarget = valid(m.thrust) ? m.thrust : thrustTarget;
 		armed = m.thrust > 0;
 	}
 

flix/parameters.ino

@@ -60,6 +60,13 @@ Parameter parameters[] = {
 	{"CTL_FLT_MODE_1", &flightModes[1]},
 	{"CTL_FLT_MODE_2", &flightModes[2]},
 	// imu
+	{"IMU_MODEL", &imuModel},
+	{"IMU_BUS", &imuBus},
+	{"IMU_PIN_SCK", &imuSckPin},
+	{"IMU_PIN_MISO", &imuMisoPin},
+	{"IMU_PIN_MOSI", &imuMosiPin},
+	{"IMU_PIN_CS", &imuCsPin},
+	{"IMU_PIN_INT", &imuIntPin},
 	{"IMU_ROT_ROLL", &imuRotation.x},
 	{"IMU_ROT_PITCH", &imuRotation.y},
 	{"IMU_ROT_YAW", &imuRotation.z},

flix/power.ino

@@ -9,7 +9,7 @@
 #include "util.h"
 
 float voltage = NAN;
-LowPassFilter<float> voltageFilter(0.2);
+LowPassFilter<float> voltageFilter(1);
 int voltagePin = -1;
 float voltageScale = 2;
 

gazebo/Arduino.h

@@ -20,6 +20,10 @@
 #define radians(deg) ((deg)*DEG_TO_RAD)
 #define degrees(rad) ((rad)*RAD_TO_DEG)
 
+#define MALLOC_CAP_SPIRAM (1<<10)
+#define MALLOC_CAP_8BIT (1<<2)
+#define ESP_NOW_MAX_DATA_LEN_V2 1470
+
 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
 template<typename T> T max(T a, T b) { return a > b ? a : b; }
 template<typename T> T min(T a, T b) { return a < b ? a : b; }
@@ -157,6 +161,7 @@ class EspClass {
 public:
 	void restart() { Serial.println("Ignore reboot in simulation"); }
 	uint32_t getFreeHeap() { return 300 * 1024; } // assume 300 KB free heap
+	uint32_t getFreePsram() { return 8 * 1024 * 1024; } // assume 8 MB free PSRAM
 } ESP;
 
 unsigned long __delayTime = 0;
@@ -166,11 +171,16 @@ void delay(uint32_t ms) {
 	__delayTime += ms * 1000;
 }
 
+void *heap_caps_calloc(size_t n, size_t size, uint32_t caps) {
+	return calloc(n, size);
+}
+
 bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
 bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
 uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; }
 int8_t digitalPinToAnalogChannel(uint8_t pin) { return -1; }
 uint32_t analogReadMilliVolts(uint8_t pin) { return 0; }
+float temperatureRead() { return 0; }
 
 unsigned long __micros;
 unsigned long __resetTime = 0;

gazebo/flix.h

@@ -21,6 +21,10 @@ extern float motors[4];
 Vector gyro, acc, imuRotation;
 Vector accBias, gyroBias, accScale(1, 1, 1);
 LowPassFilter<Vector> gyroBiasFilter(0);
+int imuModel = 1, imuBus = 0;
+int imuSckPin = 0, imuMisoPin = 0, imuMosiPin = 0, imuCsPin = -1, imuIntPin = -1;
+int imuSdaPin = 0, imuSclPin = 0;
+int rgbPin = -1, rgbNum = 1;
 
 // declarations
 void step();
@@ -82,10 +86,14 @@ void resetParameters();
 
 // mocks
 void setLED(bool on) {};
-void calibrateGyro() { print("Skip gyro calibrating\n"); };
 void calibrateAccel() { print("Skip accel calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
 void printWiFiInfo() {};
 void configWiFi(bool, const char*, const char*) { print("Skip WiFi config\n"); };
 void setWiFiMode(const String& mode) { print("Skip WiFi mode set\n"); };
+
+class IMU {
+public:
+	float getTemp() { return 0; }
+} imu;

gazebo/simulator.cpp

@@ -56,6 +56,7 @@ public:
 		Serial.begin(0);
 		setupParameters();
 		setupLog();
+		rcRxPin = 1; // set rc pin to enable rc reading
 		gzmsg << "Flix plugin loaded" << endl;
 	}
 
@@ -88,7 +89,7 @@ public:
 
 		applyMotorForces();
 		publishTopics();
-		logData();
+		loopLog();
 		syncParameters();
 	}