Add parameters for easier IMU orientation definition

docs/usage.md

@@ -80,7 +80,7 @@ QGroundControl is a ground control station software that can be used to monitor
 1. Install mobile or desktop version of [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html).
 2. Power up the drone.
 3. Connect your computer or smartphone to the appeared `flix` Wi-Fi network (password: `flixwifi`).
-4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically
+4. Launch QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
 
 ### Access console
 
@@ -112,7 +112,7 @@ The drone is configured using parameters. To access and modify them, go to the Q
 
 Use parameters, to define the IMU board axes orientation relative to the drone's axes: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`.
 
-The drone has *X* axis pointing forward, *Y* axis pointing left, and *Z* axis pointing up, and the supported IMU boards have *X* axis pointing to the pins side and *Z* axis pointing up from the side with the components:
+The drone has *X* axis pointing forward, *Y* axis pointing left, and *Z* axis pointing up, and the supported IMU boards have *X* axis pointing to the pins side and *Z* axis pointing up from the component side:
 
 <img src="img/imu-axes.png" width="200">
 
@@ -120,10 +120,10 @@ Use the following table to set the parameters for common IMU orientations:
 
 |Orientation|Parameters|Orientation|Parameters|
 |:-:|-|-|-|
-|<img src="img/imu-rot-1.png" width="200">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0    |<img src="img/imu-rot-5.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0|
-|<img src="img/imu-rot-2.png" width="200">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|<img src="img/imu-rot-6.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|
-|<img src="img/imu-rot-3.png" width="200">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|<img src="img/imu-rot-7.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|
-|<img src="img/imu-rot-4.png" width="200"><br>☑️ **Default**|<br>`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|<img src="img/imu-rot-8.png" width="200">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|
+|<img src="img/imu-rot-1.png" width="180">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0    |<img src="img/imu-rot-5.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 0|
+|<img src="img/imu-rot-2.png" width="180">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|<img src="img/imu-rot-6.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|
+|<img src="img/imu-rot-3.png" width="180">|`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|<img src="img/imu-rot-7.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 3.142|
+|<img src="img/imu-rot-4.png" width="180"><br>☑️ **Default**|<br>`IMU_ROT_ROLL` = 0<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = -1.571|<img src="img/imu-rot-8.png" width="180">|`IMU_ROT_ROLL` = 3.142<br>`IMU_ROT_PITCH` = 0<br>`IMU_ROT_YAW` = 1.571|
 
 ### Calibrate accelerometer
 
@@ -152,6 +152,10 @@ Before flight you need to calibrate the accelerometer:
    * `mrl` — should rotate rear left motor (counter-clockwise).
    * `mrr` — should rotate rear right motor (clockwise).
 
+   Rotation diagram:
+
+   <img src="img/motors.svg" width=200>
+
 > [!WARNING]
 > Never run the motors when powering the drone from USB, always use the battery for that.
 
@@ -237,8 +241,6 @@ In this mode, the pilot inputs are ignored (except the mode switch, if configure
 
 If the pilot moves the control sticks, the drone will switch back to *STAB* mode.
 
-<img src="img/parameters.png" width="400">
-
 ## Flight log
 
 After the flight, you can download the flight log for analysis wirelessly. Use the following for that:

flix/cli.ino

@@ -42,7 +42,6 @@ const char* motd =
 "log [dump] - print log header [and data]\n"
 "cr - calibrate RC\n"
 "ca - calibrate accel\n"
-"cl - calibrate level\n"
 "mfr, mfl, mrr, mrl - test motor (remove props)\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
@@ -149,8 +148,6 @@ void doCommand(String str, bool echo = false) {
 		calibrateRC();
 	} else if (command == "ca") {
 		calibrateAccel();
-	} else if (command == "cl") {
-		calibrateLevel();
 	} else if (command == "mfr") {
 		testMotor(MOTOR_FRONT_RIGHT);
 	} else if (command == "mfl") {

flix/imu.ino

@@ -107,14 +107,6 @@ void calibrateAccelOnce() {
 	accBias = (accMax + accMin) / 2;
 }
 
-void calibrateLevel() {
-	print("Place perfectly level [1 sec]\n");
-	pause(1);
-	Quaternion correction = Quaternion::fromBetweenVectors(Quaternion::rotateVector(Vector(0, 0, 1), attitude), Vector(0, 0, 1));
-	imuRotation = Quaternion::rotate(correction, Quaternion::fromEuler(imuRotation)).toEuler();
-	print("✓ Done: %.3f %.3f %.3f\n", degrees(imuRotation.x), degrees(imuRotation.y), degrees(imuRotation.z));
-}
-
 void printIMUCalibration() {
 	print("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
 	print("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);

gazebo/flix.h

@@ -72,7 +72,6 @@ void resetParameters();
 void setLED(bool on) {};
 void calibrateGyro() { print("Skip gyro calibrating\n"); };
 void calibrateAccel() { print("Skip accel calibrating\n"); };
-void calibrateLevel() { print("Skip level calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
 void printWiFiInfo() {};