Add explanation on installing the right ESP32 core in build insutrctions

Use STL instead of DAE, make props separated visuals

.editorconfig

@@ -4,7 +4,7 @@ root = true
 end_of_line = lf
 insert_final_newline = true
 
-[*.{ino,cpp,c,h,hpp,sdf,world}]
+[*.{ino,cpp,c,h,hpp,sdf,world,json}]
 charset = utf-8
 indent_style = tab
 tab_width = 4

.github/workflows/build.yml

@@ -7,49 +7,53 @@ on:
     branches: [ master ]
 
 jobs:
-  build:
+  build_linux:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Install Arduino CLI
       run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
     - name: Build firmware
       run: make
+    - name: Check c_cpp_properties.json
+      run: tools/check_c_cpp_properties.py
 
   build_macos:
     runs-on: macos-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Install Arduino CLI
       run: brew install arduino-cli
     - name: Build firmware
       run: make
+    - name: Check c_cpp_properties.json
+      run: tools/check_c_cpp_properties.py
 
   build_windows:
     runs-on: windows-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Install Arduino CLI
       run: choco install arduino-cli
     - name: Install Make
       run: choco install make
     - name: Build firmware
       run: make
+    - name: Check c_cpp_properties.json
+      run: python3 tools/check_c_cpp_properties.py
 
   build_simulator:
     runs-on: ubuntu-latest
     steps:
     - name: Install Arduino CLI
       uses: arduino/setup-arduino-cli@v1.1.1
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Install Gazebo
       run: curl -sSL http://get.gazebosim.org | sh
     - name: Install SDL2
       run: sudo apt-get install libsdl2-dev
     - name: Build simulator
       run: make build_simulator
-    - name: Run simulator
-      run: timeout --preserve-status 30 make simulator GAZEBO=gzserver || [ $? -eq 143 ]
     - uses: actions/upload-artifact@v3
       with:
         name: gazebo-plugin-binary
@@ -61,7 +65,7 @@ jobs:
     steps:
     - name: Install Arduino CLI
       run: brew install arduino-cli
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577
       run: |
         rm -f /usr/local/bin/2to3*
@@ -75,7 +79,3 @@ jobs:
       run: brew install sdl2
     - name: Build simulator
       run: make build_simulator
-    - name: Run simulator
-      run: |
-        brew install coreutils
-        timeout --preserve-status 30 make simulator GAZEBO=gzserver || [ $? -eq 143 ]

.github/workflows/tools.yml

@@ -0,0 +1,33 @@
+name: Build tools
+
+on:
+  push:
+    branches: [ '*' ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  csv_to_ulog:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - name: Build csv_to_ulog
+      run: cd tools/csv_to_ulog && mkdir build && cd build && cmake .. && make
+    - name: Test csv_to_ulog
+      run: |
+        cd tools/csv_to_ulog/build
+        echo -e "t,x,y,z\n0,1,2,3\n1,4,5,6" > log.csv
+        ./csv_to_ulog log.csv
+        test $(stat -c %s log.ulg) -eq 196
+  python_tools:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - name: Install Python dependencies
+      run: pip install -r tools/requirements.txt
+    - name: Test csv_to_mcap tool
+      run: |
+        cd tools
+        echo -e "t,x,y,z\n0,1,2,3\n1,4,5,6" > log.csv
+        ./csv_to_mcap.py log.csv
+        test $(stat -c %s log.mcap) -eq 883

.gitignore

@@ -3,3 +3,10 @@
 build/
 tools/log/
 .dependencies
+.vscode/*
+!.vscode/settings.json
+!.vscode/c_cpp_properties.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/intellisense.h

.vscode/c_cpp_properties.json

@@ -0,0 +1,147 @@
+{
+	"configurations": [
+		{
+			"name": "Linux",
+			"includePath": [
+				"${workspaceFolder}/flix",
+				"${workspaceFolder}/gazebo",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/libraries/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32",
+				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/**",
+				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/dio_qspi/include",
+				"~/Arduino/libraries/**",
+				"/usr/include/**"
+			],
+			"forcedInclude": [
+				"${workspaceFolder}/.vscode/intellisense.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32/Arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32/pins_arduino.h",
+				"${workspaceFolder}/flix/cli.ino",
+				"${workspaceFolder}/flix/control.ino",
+				"${workspaceFolder}/flix/estimate.ino",
+				"${workspaceFolder}/flix/flix.ino",
+				"${workspaceFolder}/flix/imu.ino",
+				"${workspaceFolder}/flix/led.ino",
+				"${workspaceFolder}/flix/log.ino",
+				"${workspaceFolder}/flix/mavlink.ino",
+				"${workspaceFolder}/flix/motors.ino",
+				"${workspaceFolder}/flix/rc.ino",
+				"${workspaceFolder}/flix/time.ino",
+				"${workspaceFolder}/flix/util.ino",
+				"${workspaceFolder}/flix/wifi.ino"
+			],
+			"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++",
+			"cStandard": "c11",
+			"cppStandard": "c++17",
+			"defines": [
+				"F_CPU=240000000L",
+				"ARDUINO=10607",
+				"ARDUINO_D1_MINI32",
+				"ARDUINO_ARCH_ESP32",
+				"ARDUINO_BOARD=D1_MINI32",
+				"ARDUINO_VARIANT=d1_mini32",
+				"ARDUINO_PARTITION_default",
+				"ESP32",
+				"CORE_DEBUG_LEVEL=0",
+				"ARDUINO_USB_CDC_ON_BOOT="
+			]
+		},
+		{
+			"name": "Mac",
+			"includePath": [
+				"${workspaceFolder}/flix",
+				"${workspaceFolder}/gazebo",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/libraries/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/include/**",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/dio_qspi/include",
+				"~/Documents/Arduino/libraries/**",
+				"/opt/homebrew/include/**"
+			],
+			"forcedInclude": [
+				"${workspaceFolder}/.vscode/intellisense.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32/pins_arduino.h",
+				"${workspaceFolder}/flix/flix.ino",
+				"${workspaceFolder}/flix/cli.ino",
+				"${workspaceFolder}/flix/control.ino",
+				"${workspaceFolder}/flix/estimate.ino",
+				"${workspaceFolder}/flix/imu.ino",
+				"${workspaceFolder}/flix/led.ino",
+				"${workspaceFolder}/flix/log.ino",
+				"${workspaceFolder}/flix/mavlink.ino",
+				"${workspaceFolder}/flix/motors.ino",
+				"${workspaceFolder}/flix/rc.ino",
+				"${workspaceFolder}/flix/time.ino",
+				"${workspaceFolder}/flix/util.ino",
+				"${workspaceFolder}/flix/wifi.ino"
+			],
+			"compilerPath": "~/Library/Arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++",
+			"cStandard": "c11",
+			"cppStandard": "c++17",
+			"defines": [
+				"F_CPU=240000000L",
+				"ARDUINO=10607",
+				"ARDUINO_D1_MINI32",
+				"ARDUINO_ARCH_ESP32",
+				"ARDUINO_BOARD=D1_MINI32",
+				"ARDUINO_VARIANT=d1_mini32",
+				"ARDUINO_PARTITION_default",
+				"ARDUINO_FQBN=esp32:esp32:d1_mini32",
+				"ESP32",
+				"CORE_DEBUG_LEVEL=0",
+				"ARDUINO_USB_CDC_ON_BOOT="
+			]
+		},
+		{
+			"name": "Win32",
+			"includePath": [
+				"${workspaceFolder}/flix",
+				"${workspaceFolder}/gazebo",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/**",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/dio_qspi/include",
+				"~/Documents/Arduino/libraries/**"
+			],
+			"forcedInclude": [
+				"${workspaceFolder}/.vscode/intellisense.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32/Arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32/pins_arduino.h",
+				"${workspaceFolder}/flix/cli.ino",
+				"${workspaceFolder}/flix/control.ino",
+				"${workspaceFolder}/flix/estimate.ino",
+				"${workspaceFolder}/flix/flix.ino",
+				"${workspaceFolder}/flix/imu.ino",
+				"${workspaceFolder}/flix/led.ino",
+				"${workspaceFolder}/flix/log.ino",
+				"${workspaceFolder}/flix/mavlink.ino",
+				"${workspaceFolder}/flix/motors.ino",
+				"${workspaceFolder}/flix/rc.ino",
+				"${workspaceFolder}/flix/time.ino",
+				"${workspaceFolder}/flix/util.ino",
+				"${workspaceFolder}/flix/wifi.ino"
+			],
+			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++.exe",
+			"cStandard": "c11",
+			"cppStandard": "c++17",
+			"defines": [
+				"F_CPU=240000000L",
+				"ARDUINO=10607",
+				"ARDUINO_D1_MINI32",
+				"ARDUINO_ARCH_ESP32",
+				"ARDUINO_BOARD=D1_MINI32",
+				"ARDUINO_VARIANT=d1_mini32",
+				"ARDUINO_PARTITION_default",
+				"ARDUINO_FQBN=esp32:esp32:d1_mini32",
+				"ESP32",
+				"CORE_DEBUG_LEVEL=0",
+				"ARDUINO_USB_CDC_ON_BOOT="
+			]
+		}
+	],
+	"version": 4
+}

.vscode/extensions.json

@@ -0,0 +1,10 @@
+{
+	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	"recommendations": [
+		"ms-vscode.cpptools",
+		"twxs.cmake",
+		"ms-vscode.cmake-tools",
+		"ms-python.python"
+	],
+	"unwantedRecommendations": []
+}

.vscode/intellisense.h

@@ -0,0 +1,5 @@
+#ifdef __INTELLISENSE__
+	#pragma diag_suppress 144, 513
+	// diag 144: a value of type "enum <unnamed>" cannot be used to initialize an entity of type "enum <unnamed>"C/C++
+	// diag 513: a value of type "enum <unnamed>" cannot be assigned to an entity of type "enum <unnamed>"C/C++
+#endif

.vscode/launch.json

@@ -0,0 +1,25 @@
+{
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Debug simulation",
+			"type": "cppdbg",
+			"request": "launch",
+			"program": "/usr/bin/gzserver",
+			"osx": {
+				"program": "/opt/homebrew/bin/gzserver",
+				"MIMode": "lldb",
+			},
+			"args": ["--verbose", "${workspaceFolder}/gazebo/flix.world"],
+			"stopAtEntry": false,
+			"cwd": "${fileDirname}",
+			"environment": [
+				{"name": "GAZEBO_MODEL_PATH", "value": "${workspaceFolder}/gazebo/models"},
+				{"name": "GAZEBO_PLUGIN_PATH", "value": "${workspaceFolder}/gazebo/build"}
+			],
+			"MIMode": "gdb",
+			"preLaunchTask": "Build simulator",
+			"externalConsole": true,
+		},
+	]
+}

.vscode/settings.json

@@ -0,0 +1,13 @@
+{
+	"C_Cpp.intelliSenseEngineFallback": "enabled",
+	"files.associations": {
+		"*.sdf": "xml",
+		"*.ino": "cpp",
+		"*.h": "cpp"
+	},
+	"C_Cpp.vcFormat.newLine.beforeOpenBrace.function": "newLine",
+	"C_Cpp.vcFormat.newLine.beforeOpenBrace.block": "sameLine",
+	"C_Cpp.vcFormat.newLine.beforeOpenBrace.lambda": "sameLine",
+	"C_Cpp.vcFormat.newLine.beforeOpenBrace.namespace": "sameLine",
+	"C_Cpp.vcFormat.newLine.beforeOpenBrace.type": "sameLine"
+}

.vscode/tasks.json

@@ -0,0 +1,31 @@
+{
+	"tasks": [
+		{
+			"label": "Build firmware",
+			"type": "shell",
+			"command": "make",
+			"problemMatcher": [ "$gcc" ],
+			"presentation": { "clear": true, "showReuseMessage": false },
+		},
+		{
+			"label": "Upload firmware",
+			"type": "shell",
+			"command": "make upload",
+			"problemMatcher": [ "$gcc" ],
+			"presentation": { "clear": true, "showReuseMessage": false }
+		},
+		{
+			"label": "Build simulator",
+			"type": "shell",
+			"command": "make build_simulator",
+			"problemMatcher": [ "$gcc" ],
+			"presentation": { "clear": true, "showReuseMessage": false }
+		},
+		{
+			"label": "Clean",
+			"type": "shell",
+			"command": "make clean",
+		}
+	],
+	"version": "2.0.0"
+}

Makefile

@@ -13,10 +13,10 @@ monitor:
 
 dependencies .dependencies:
 	arduino-cli core update-index --config-file arduino-cli.yaml
-	arduino-cli core install esp32:esp32@2.0.11 --config-file arduino-cli.yaml
+	arduino-cli core install esp32:esp32@3.0.3 --config-file arduino-cli.yaml
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
-	arduino-cli lib install "MAVLink"@2.0.1
+	arduino-cli lib install "MAVLink"@2.0.10
 	touch .dependencies
 
 gazebo/build cmake: gazebo/CMakeLists.txt
@@ -26,11 +26,10 @@ gazebo/build cmake: gazebo/CMakeLists.txt
 build_simulator: .dependencies gazebo/build
 	make -C gazebo/build
 
-GAZEBO ?= gazebo
 simulator: build_simulator
 	GAZEBO_MODEL_PATH=$$GAZEBO_MODEL_PATH:${CURDIR}/gazebo/models \
 	GAZEBO_PLUGIN_PATH=$$GAZEBO_PLUGIN_PATH:${CURDIR}/gazebo/build \
-	$(GAZEBO) --verbose ${CURDIR}/gazebo/flix.world
+	gazebo --verbose ${CURDIR}/gazebo/flix.world
 
 log:
 	PORT=$(PORT) tools/grab_log.py

README.md

@@ -1,69 +1,144 @@
-# flix
+# Flix
 
-**flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
+**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
 
-<img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter">
+<table>
+  <tr>
+    <td align=center><strong>Version 1</strong> (3D-printed frame)</td>
+    <td align=center><strong>Version 0</strong></td>
+  </tr>
+  <tr>
+    <td><img src="docs/img/flix1.jpg" width=500 alt="Flix quadcopter"></td>
+    <td><img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter"></td>
+  </tr>
+</table>
 
 ## Features
 
 * Simple and clean Arduino based source code.
 * Acro and Stabilized flight using remote control.
 * Precise simulation using Gazebo.
-* In-RAM logging.
+* [In-RAM logging](docs/log.md).
 * Command line interface through USB port.
 * Wi-Fi support.
 * MAVLink support.
 * Control using mobile phone (with QGroundControl app).
-* ESCs with reverse mode support.
+* Completely 3D-printed frame.
-* *Textbook and videos for students on writing a flight controller\*.*
+* *Textbook and videos for students on writing a flight controller¹.*
-* *Completely 3D-printed frame*.*
+* *Position control and autonomous flights using external camera¹*.
-* *Position control and autonomous flights using external camera\**.
 * [Building and running instructions](docs/build.md).
 
-*\* — planned.*
+*¹ — planned.*
 
 ## It actually flies
 
+See detailed demo video (for version 0): https://youtu.be/8GzzIQ3C6DQ.
+
 <a href="https://youtu.be/8GzzIQ3C6DQ"><img width=500 src="https://i3.ytimg.com/vi/8GzzIQ3C6DQ/maxresdefault.jpg"></a>
 
-See YouTube demo video: https://youtu.be/8GzzIQ3C6DQ.
+Version 1 test flight: https://t.me/opensourcequadcopter/42.
+
+<a href="https://t.me/opensourcequadcopter/42"><img width=500 src="docs/img/flight-video.jpg"></a>
 
 ## Simulation
 
-Simulation in Gazebo using a plugin that runs original Arduino code is implemented:
+The simulator is implemented using Gazebo and runs the original Arduino code:
 
 <img src="docs/img/simulator.png" width=500 alt="Flix simulator">
 
-## Schematics
+See [instructions on running the simulation](docs/build.md).
 
-<img src="docs/img/schematics.svg" width=800 alt="Flix schematics">
+## Components (version 1)
 
-You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/) of the drone.
+|Type|Part|Image|Quantity|
+|-|-|:-:|:-:|
+|Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
+|IMU and barometer² board|GY-91 (or other MPU-9250 board)|<img src="docs/img/gy-91.jpg" width=100>|1|
+|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<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 [compatible](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4|
+|Pull-down resistor|10 kΩ|<img src="docs/img/resistor10k.jpg" width=100>|4|
+|3.7V Li-Po battery|LW 952540 (or any compatible by the size)|<img src="docs/img/battery.jpg" width=100>|1|
+|Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1|
+|Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2|
+|Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4|
+|Frame bottom part|3D printed: [`flix-frame.stl`](docs/assets/flix-frame.stl)|<img src="docs/img/frame1.jpg" width=100>|1|
+|Frame top part|3D printed: [`esp32-holder.stl`](docs/assets/esp32-holder.stl)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
+|Washer for IMU board mounting|3D printed: [`washer-m3.stl`](docs/assets/washer-m3.stl)|<img src="docs/img/washer-m3.jpg" width=100>|1|
+|*RC transmitter (optional)*|*KINGKONG TINY X8 or other³*|<img src="docs/img/tx.jpg" width=100>|1|
+|*RC receiver (optional)*|*DF500 or other³*|<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||||
 
-*\* — SBUS inverter is not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
+*² — barometer is not used for now.*<br>
+*³ — you may use any transmitter-receiver pair with SBUS interface.*
 
-## Components (version 0)
+Tools required for assembly:
 
-|Component|Type|Image|Quantity|
+* 3D printer.
-|-|-|-|-|
+* Soldering iron.
-|ESP32 Mini|Microcontroller board|<img src="docs/img/esp32.jpg" width=100>|1|
+* Solder wire (with flux).
-|GY-91|IMU+LDO+barometer board|<img src="docs/img/gy-91.jpg" width=100>|1|
+* Screwdrivers.
-|K100|Quadcopter frame|<img src="docs/img/frame.jpg" width=100>|1|
+* Multimeter.
-|8520 3.7V brushed motor (**shaft 0.8mm!**)|Motor|<img src="docs/img/motor.jpeg" width=100>|4|
-|Hubsan 55 mm| Propeller|<img src="docs/img/prop.jpg" width=100>|4|
-|2.7A 1S Dual Way Micro Brush ESC|Motor ESC|<img src="docs/img/esc.jpg" width=100>|4|
-|KINGKONG TINY X8|RC transmitter|<img src="docs/img/tx.jpg" width=100>|1|
-|DF500 (SBUS)|RC receiver|<img src="docs/img/rx.jpg" width=100>|1|
-||~~SBUS inverter~~*|<img src="docs/img/inv.jpg" width=100>|~~1~~|
-|3.7 Li-Po 850 MaH 60C|Battery|||
-||Battery charger|<img src="docs/img/charger.jpg" width=100>|1|
-||Wires, connectors, tape, ...|||
-||3D-printed frame parts|||
 
-*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
+Feel free to modify the design and or code, and create your own improved versions of Flix! Send your results to the [official Telegram chat](https://t.me/opensourcequadcopterchat), or directly to the author ([E-mail](mailto:okalachev@gmail.com), [Telegram](https://t.me/okalachev)).
+
+## Schematics (version 1)
+
+### Simplified connection diagram
+
+<img src="docs/img/schematics1.svg" width=800 alt="Flix version 1 schematics">
+
+Motor connection scheme:
+
+<img src="docs/img/mosfet-connection.png" height=400 alt="MOSFET connection scheme">
+
+Complete diagram is Work-in-Progress.
+
+### Notes
+
+* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.
+* Connect the GY-91 board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins:
+
+  |GY-91 pin|ESP32 pin|
+  |-|-|
+  |GND|GND|
+  |3.3V|3.3V|
+  |SCK|SVP (GPIO18)|
+  |MOSI|GPIO23|
+  |MISO|GPIO19|
+  |NCS|GPIO5|
+
+* Solder pull-down resistors to the MOSFETs.
+* Connect the motors to the ESP32 Mini using MOSFETs, by following scheme:
+
+  |Motor|Position|Direction|Wires|GPIO|
+  |-|-|-|-|-|
+  |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12|
+  |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13|
+  |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14|
+  |Motor 3|Front left|Clockwise|Blue & Red|GPIO15|
+
+  Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires.
+
+* Optionally connect the RC receiver to the ESP32's UART2:
+
+  |Receiver pin|ESP32 pin|
+  |-|-|
+  |GND|GND|
+  |VIN|VC (or 3.3V depending on the receiver)|
+  |Signal|GPIO4⁴|
+
+*⁴ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.*
+
+## Version 0
+
+See the information on the obsolete version 0 in the [corresponding article](docs/version0.md).
 
 ## Materials
 
-Subscribe to Telegram-channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
+Subscribe to the Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
+
+Join the official Telegram chat: https://t.me/opensourcequadcopterchat.
 
 Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.

docs/build.md

@@ -14,7 +14,7 @@ cd flix
 1. Install Arduino CLI:
 
    ```bash
-   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
+   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=~/.local/bin sh
    ```
 
 2. Install Gazebo 11:
@@ -78,19 +78,36 @@ cd flix
    make simulator
    ```
 
-### Flight
+### Setup and flight
 
-Use USB remote control or QGroundControl mobile app (with *Virtual Joystick* setting enabled) to control the drone. *Auto-Center Throttle* setting **should be disabled**.
+#### 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. 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 and stop the simulation.
+4. Copy the calibration results to the source code (`gazebo/joystick.h`).
+5. Run the simulation again.
+6. 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. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
+2. Install ESP32 core, version 3.0.3 (version 2.x is not supported). 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.
 3. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
    * `FlixPeriph`.
-   * `MAVLink`, version 2.0.1.
+   * `MAVLink`, version 2.0.10.
 4. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).
 5. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.
 6. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
@@ -119,12 +136,33 @@ Use USB remote control or QGroundControl mobile app (with *Virtual Joystick* set
 
 See other available Make commands in the [Makefile](../Makefile).
 
+### Setup and flight
+
+Before flight you need to calibrate the accelerometer:
+
+1. Open Serial Monitor in Arduino IDE (use use `make monitor` command in the command line).
+2. Type `ca` command there.
+3. Copy calibration results to the source code (`flix/imu.ino`).
+
+#### 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.
+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 (use use `make monitor` command in the command line).
+2. Type `cr` command there.
+3. Copy calibration results to the source code (`flix/rc.ino`).
+
+Then you can use your remote control to fly the drone!
+
 ### Firmware code structure
 
 See [firmware overview](firmware.md) for more details.
-
-## Setup
-
-Before flight in simulation and on the real drone, you need to calibrate your remote control. Use drone's command line interface (`make monitor` on the real drone) and type `cr` command. Copy calibration results to the source code (`flix/rc.ino` and/or `gazebo/joystick.h`).
-
-On the real drone, you also need to calibrate the accelerometer and the gyroscope. Use `ca` and `cg` commands for that. Copy calibration results to the source code (`flix/imu.ino`).

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docs/log.md

@@ -0,0 +1,72 @@
+# Log analysis
+
+Flix quadcopter uses RAM to store flight log data. The default log capacity is 10 seconds at 100 Hz. This configuration can be adjusted in the `log.ino` file.
+
+To perform log analysis, you need to download the log right after the flight without powering off the drone. Then you can use several tools to analyze the log data.
+
+## Log download
+
+To download the log, connect the ESP32 using USB right after the flight and run the following command:
+
+```bash
+make log
+```
+
+Logs are stored in `tools/log/*.csv` files.
+
+## Analysis
+
+### PlotJuggler
+
+The recommended tool for log analysis is PlotJuggler.
+
+<img src="img/plotjuggler.png" width="500">
+
+1. Install PlotJuggler using the [official instructions](https://github.com/facontidavide/PlotJuggler?tab=readme-ov-file#installation).
+
+2. Run PlotJuggler and drag'n'drop the downloaded log file there. Choose `t` column to be used as X axis.
+
+   You can open the most recent downloaded file using the command:
+
+   ```bash
+   make plot
+   ```
+
+   You can perform both log download and run PlotJuggler in one command:
+
+   ```bash
+   make log plot
+   ```
+
+### FlightPlot
+
+FlightPlot is a powerful tool for analyzing logs in [ULog format](https://docs.px4.io/main/en/dev_log/ulog_file_format.html). This format is used in PX4 and ArduPilot flight software.
+
+<img src="img/flightplot.png" width="500">
+
+1. [Install FlightPlot](https://github.com/PX4/FlightPlot).
+2. Flix repository contains a tool for converting CSV logs to ULog format. Build the tool using [the instructions](../tools/csv_to_ulog/README.md) and convert the log you want to analyze.
+3. Run FlightPlot and drag'n'drop the converted ULog-file there.
+
+### Foxglove Studio
+
+Foxglove is a tool for visualizing and analyzing robotics data with very rich functionality. It can import various formats, but mainly focuses on its own format, called [MCAP](https://mcap.dev).
+
+<img src="img/foxglove.png" width="500">
+
+1. Install Foxglove Studio from the [official website](https://foxglove.dev/download).
+
+2. Flix repository contains a tool for converting CSV logs to MCAP format. First, install its dependencies:
+
+   ```bash
+   cd tools
+   pip install -r requirements.txt
+   ```
+
+3. Convert the log you want to analyze:
+
+   ```bash
+   csv_to_mcap.py log_file.csv
+   ```
+
+4. Open the log in Foxglove Studio using *Open local file* command.

docs/version0.md

@@ -0,0 +1,30 @@
+# Flix version 0
+
+Flix version 0 (obsolete):
+
+<img src="img/flix.jpg" width=500 alt="Flix quadcopter">
+
+## Components list
+
+|Type|Part|Image|Quantity|
+|-|-|-|-|
+|Microcontroller board|ESP32 Mini|<img src="img/esp32.jpg" width=100>|1|
+|IMU and barometer² board|GY-91 (or other MPU-9250 board)|<img src="img/gy-91.jpg" width=100>|1|
+|Quadcopter frame|K100|<img src="img/frame.jpg" width=100>|1|
+|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="img/motor.jpeg" width=100>|4|
+|Propeller|Hubsan 55 mm|<img src="img/prop.jpg" width=100>|4|
+|Motor ESC|2.7A 1S Dual Way Micro Brush ESC|<img src="img/esc.jpg" width=100>|4|
+|RC transmitter|KINGKONG TINY X8|<img src="img/tx.jpg" width=100>|1|
+|RC receiver|DF500 (SBUS)|<img src="img/rx.jpg" width=100>|1|
+|~~SBUS inverter~~*||<img src="img/inv.jpg" width=100>|~~1~~|
+|Battery|3.7 Li-Po 850 MaH 60C|||
+|Battery charger||<img src="img/charger.jpg" width=100>|1|
+|Wires, connectors, tape, ...|||
+
+*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
+
+## Schematics
+
+<img src="img/schematics.svg" width=800 alt="Flix schematics">
+
+You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/) of the drone.

flix/cli.ino

@@ -102,7 +102,7 @@ void doCommand(String& command, String& value) {
 	} else if (command == "mrl") {
 		cliTestMotor(MOTOR_REAR_LEFT);
 	} else if (command == "fullmot") {
-		fullMotorTest(value.toInt(), false);
+		fullMotorTest(value.toInt());
 	} else if (command == "reset") {
 		attitude = Quaternion();
 	} else {

flix/control.ino

@@ -81,22 +81,22 @@ void interpretRC() {
 	if (mode == ACRO) {
 		yawMode = YAW_RATE;
 		ratesTarget.x = controls[RC_CHANNEL_ROLL] * ROLLRATE_MAX;
-		ratesTarget.y = -controls[RC_CHANNEL_PITCH] * PITCHRATE_MAX; // up pitch stick means tilt clockwise in frd
+		ratesTarget.y = controls[RC_CHANNEL_PITCH] * PITCHRATE_MAX;
-		ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX;
+		ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU
 
 	} else if (mode == STAB) {
 		yawMode = controls[RC_CHANNEL_YAW] == 0 ? YAW : YAW_RATE;
 
 		attitudeTarget = Quaternion::fromEulerZYX(Vector(
 			controls[RC_CHANNEL_ROLL] * MAX_TILT,
-			-controls[RC_CHANNEL_PITCH] * MAX_TILT,
+			controls[RC_CHANNEL_PITCH] * MAX_TILT,
 			attitudeTarget.getYaw()));
-		ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX;
+		ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU
 
 	} else if (mode == MANUAL) {
 		// passthrough mode
 		yawMode = YAW_RATE;
-		torqueTarget = Vector(controls[RC_CHANNEL_ROLL], -controls[RC_CHANNEL_PITCH], controls[RC_CHANNEL_YAW]) * 0.01;
+		torqueTarget = Vector(controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_PITCH], -controls[RC_CHANNEL_YAW]) * 0.01;
 	}
 
 	if (yawMode == YAW_RATE || !motorsActive()) {
@@ -113,7 +113,7 @@ void controlAttitude() {
 		return;
 	}
 
-	const Vector up(0, 0, -1);
+	const Vector up(0, 0, 1);
 	Vector upActual = attitude.rotate(up);
 	Vector upTarget = attitudeTarget.rotate(up);
 
@@ -123,7 +123,8 @@ void controlAttitude() {
 	ratesTarget.y = pitchPID.update(error.y, dt);
 
 	if (yawMode == YAW) {
-		ratesTarget.z = yawPID.update(wrapAngle(attitudeTarget.getYaw() - attitude.getYaw()), dt);
+		float yawError = wrapAngle(attitudeTarget.getYaw() - attitude.getYaw());
+		ratesTarget.z = yawPID.update(yawError, dt);
 	}
 }
 
@@ -149,10 +150,10 @@ void controlTorque() {
 		return;
 	}
 
-	motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
+	motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.x - torqueTarget.y + torqueTarget.z;
-	motors[MOTOR_FRONT_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;
+	motors[MOTOR_FRONT_RIGHT] = thrustTarget - torqueTarget.x - torqueTarget.y - torqueTarget.z;
-	motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x - torqueTarget.y + torqueTarget.z;
+	motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
-	motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x - torqueTarget.y - torqueTarget.z;
+	motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;
 
 	motors[0] = constrain(motors[0], 0, 1);
 	motors[1] = constrain(motors[1], 0, 1);

flix/estimate.ino

@@ -36,7 +36,7 @@ void applyAcc() {
 	if (!landed) return;
 
 	// calculate accelerometer correction
-	Vector up = attitude.rotate(Vector(0, 0, -1));
+	Vector up = attitude.rotate(Vector(0, 0, 1));
 	Vector correction = Vector::angularRatesBetweenVectors(acc, up) * dt * WEIGHT_ACC;
 
 	// apply correction
@@ -45,6 +45,6 @@ void applyAcc() {
 }
 
 void signalizeHorizontality() {
-	float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, -1)), Vector(0, 0, -1));
+	float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, 1)), Vector(0, 0, 1));
 	setLED(angle < radians(15));
 }

flix/flix.ino

@@ -8,9 +8,9 @@
 
 #define SERIAL_BAUDRATE 115200
 
-#define WIFI_ENABLED 0
+#define WIFI_ENABLED 1
 
-#define RC_CHANNELS 6
+#define RC_CHANNELS 16
 #define RC_CHANNEL_ROLL 0
 #define RC_CHANNEL_PITCH 1
 #define RC_CHANNEL_THROTTLE 2
@@ -26,7 +26,7 @@
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
 float loopFreq; // loop frequency, Hz
-int16_t channels[16]; // raw rc channels
+int16_t channels[RC_CHANNELS]; // raw rc channels
 float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
 Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s

flix/imu.ino

@@ -2,6 +2,9 @@
 // Repository: https://github.com/okalachev/flix
 
 // Work with the IMU sensor
+// IMU is oriented FLU (front-left-up) style.
+// In case of FRD (front-right-down) orientation of the IMU, use this code:
+// https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98.
 
 #include <SPI.h>
 #include <MPU9250.h>

flix/mavlink.ino

@@ -38,8 +38,9 @@ void sendMavlink() {
 		lastFast = t;
 
 		const float zeroQuat[] = {0, 0, 0, 0};
+		Quaternion attitudeFRD = FLU2FRD(attitude); // MAVLink uses FRD coordinate system
 		mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
-			time, attitude.w, attitude.x, attitude.y, attitude.z, rates.x, rates.y, rates.z, zeroQuat);
+			time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat);
 		sendMessage(&msg);
 
 		mavlink_msg_rc_channels_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0,
@@ -97,4 +98,9 @@ void handleMavlink(const void *_msg) {
 	}
 }
 
+// Convert Forward-Left-Up to Forward-Right-Down quaternion
+inline Quaternion FLU2FRD(const Quaternion &q) {
+	return Quaternion(q.w, q.x, -q.y, -q.z);
+}
+
 #endif

flix/motors.ino

@@ -1,69 +1,50 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Motors output control
+// Motors output control using MOSFETs
+// In case of using ESC, use this version of the code: https://gist.github.com/okalachev/8871d3a94b6b6c0a298f41a4edd34c61.
 // Motor: 8520 3.7V
-// ESC: KINGDUO Micro Mini 4A 1S Brushed Esc 3.6-6V
 
-#define MOTOR_0_PIN 12
+#define MOTOR_0_PIN 12 // rear left
-#define MOTOR_1_PIN 13
+#define MOTOR_1_PIN 13 // rear right
-#define MOTOR_2_PIN 14
+#define MOTOR_2_PIN 14 // front right
-#define MOTOR_3_PIN 15
+#define MOTOR_3_PIN 15 // front left
+
 #define PWM_FREQUENCY 200
 #define PWM_RESOLUTION 8
-#define PWM_NEUTRAL 1500
-#define PWM_MIN 1600
-#define PWM_MAX 2300
-#define PWM_REVERSE_MIN 1400
-#define PWM_REVERSE_MAX 700
 
 void setupMotors() {
 	Serial.println("Setup Motors");
 
-	// configure PWM channels
+	// configure pins
-	ledcSetup(0, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcSetup(1, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcSetup(2, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcSetup(3, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-
-	// attach channels to motor pins
-	ledcAttachPin(MOTOR_0_PIN, 0);
-	ledcAttachPin(MOTOR_1_PIN, 1);
-	ledcAttachPin(MOTOR_2_PIN, 2);
-	ledcAttachPin(MOTOR_3_PIN, 3);
 
 	sendMotors();
 	Serial.println("Motors initialized");
 }
 
-uint16_t getPWM(float val, int n) {
+uint8_t signalToDutyCycle(float control) {
-	if (val == 0) {
+	float duty = mapff(control, 0, 1, 0, (1 << PWM_RESOLUTION) - 1);
-		return PWM_NEUTRAL;
+	return round(constrain(duty, 0, (1 << PWM_RESOLUTION) - 1));
-	} else if (val > 0) {
-		return mapff(val, 0, 1, PWM_MIN, PWM_MAX);
-	} else {
-		return mapff(val, 0, -1, PWM_REVERSE_MIN, PWM_REVERSE_MAX);
-	}
-}
-
-uint8_t pwmToDutyCycle(uint16_t pwm) {
-	return map(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
 }
 
 void sendMotors() {
-	ledcWrite(0, pwmToDutyCycle(getPWM(motors[0], 0)));
+	ledcWrite(MOTOR_0_PIN, signalToDutyCycle(motors[0]));
-	ledcWrite(1, pwmToDutyCycle(getPWM(motors[1], 1)));
+	ledcWrite(MOTOR_1_PIN, signalToDutyCycle(motors[1]));
-	ledcWrite(2, pwmToDutyCycle(getPWM(motors[2], 2)));
+	ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2]));
-	ledcWrite(3, pwmToDutyCycle(getPWM(motors[3], 3)));
+	ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3]));
 }
 
-void fullMotorTest(int n, bool reverse) {
+void fullMotorTest(int n) {
 	printf("Full test for motor %d\n", n);
-	for (int pwm = PWM_NEUTRAL; pwm <= 2300 && pwm >= 700; pwm += reverse ? -100 : 100) {
+	for (float signal = 0; signal <= 1; signal += 0.1) {
-		printf("Motor %d: %d\n", n, pwm);
+		printf("Motor %d: %f\n", n, signal);
-		ledcWrite(n, pwmToDutyCycle(pwm));
+		ledcWrite(n, signalToDutyCycle(signal));
 		delay(3000);
 	}
-	printf("Motor %d: %d\n", n, PWM_NEUTRAL);
+	printf("Motor %d: %f\n", n, 0);
-	ledcWrite(n, pwmToDutyCycle(PWM_NEUTRAL));
+	ledcWrite(n, signalToDutyCycle(0));
 }

flix/quaternion.h

@@ -75,7 +75,7 @@ public:
 		float sqz = z * z;
 		float sqw = w * w;
 		// Cases derived from https://orbitalstation.wordpress.com/tag/quaternion/
-		float sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw); /* normalization added from urdfom_headers */
+		float sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw);
 		if (sarg <= -0.99999) {
 			euler.x = 0;
 			euler.y = -0.5 * PI;

flix/rc.ino

@@ -6,10 +6,10 @@
 #include <SBUS.h>
 
 // NOTE: use 'cr' command to calibrate the RC and put the values here
-int channelNeutral[] = {995, 883, 200, 972, 512, 512};
+int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
+int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
 
-SBUS RC(Serial2);
+SBUS RC(Serial2, 16, 17); // NOTE: remove pin numbers (16, 17) if you use the new default pins for Serial2 (4, 25)
 
 void setupRC() {
 	Serial.println("Setup RC");

gazebo/Arduino.h

@@ -7,6 +7,7 @@
 
 #include <cmath>
 #include <string>
+#include <stdint.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <sys/poll.h>
@@ -116,7 +117,7 @@ public:
 	int read() {
 		if (available()) {
 			char c;
-			::read(STDIN_FILENO, &c, 1); // use raw read to avoid C++ buffering
+			size_t res = ::read(STDIN_FILENO, &c, 1); // use raw read to avoid C++ buffering
 			// https://stackoverflow.com/questions/45238997/does-getchar-function-has-its-own-buffer-to-store-remaining-input
 			return c;
 		}
@@ -133,7 +134,8 @@ void delay(uint32_t ms) {
 }
 
 unsigned long __micros;
+unsigned long __resetTime = 0;
 
 unsigned long micros() {
-	return __micros;
+	return __micros + __resetTime; // keep the time monotonic
 }

gazebo/CMakeLists.txt

@@ -15,6 +15,7 @@ set(CMAKE_BUILD_TYPE RelWithDebInfo)
 add_library(flix SHARED simulator.cpp)
 target_link_libraries(flix ${GAZEBO_LIBRARIES} ${SDL2_LIBRARIES})
 target_include_directories(flix PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_compile_options(flix PRIVATE -Wno-address-of-packed-member) # disable unneeded mavlink warnings
 
 # Include dir for MAVLink-Arduino library
 target_include_directories(flix PUBLIC $ENV{HOME}/Arduino/libraries/MAVLink)

gazebo/SBUS.h

@@ -12,6 +12,7 @@ struct SBUSData {
 class SBUS {
 public:
 	SBUS(HardwareSerial& bus, const bool inv = true) {};
+	SBUS(HardwareSerial& bus, const int8_t rxpin, const int8_t txpin, const bool inv = true) {};
 	void begin() {};
 	bool read() { return joystickGet(); };
 	SBUSData data() {

gazebo/flix.h

@@ -10,7 +10,7 @@
 #include "Arduino.h"
 #include "wifi.h"
 
-#define RC_CHANNELS 6
+#define RC_CHANNELS 16
 
 #define MOTOR_REAR_LEFT 0
 #define MOTOR_FRONT_LEFT 3
@@ -49,11 +49,12 @@ void sendMavlink();
 void sendMessage(const void *msg);
 void receiveMavlink();
 void handleMavlink(const void *_msg);
+inline Quaternion FLU2FRD(const Quaternion &q);
 
 // mocks
 void setLED(bool on) {};
 void calibrateGyro() { printf("Skip gyro calibrating\n"); };
 void calibrateAccel() { printf("Skip accel calibrating\n"); };
-void fullMotorTest(int n, bool reverse) { printf("Skip full motor test\n"); };
+void fullMotorTest(int n) { printf("Skip full motor test\n"); };
 void sendMotors() {};
 void printIMUCal() { printf("cal: N/A\n"); };

gazebo/flix.world

@@ -9,7 +9,7 @@
 		</scene>
 		<gui>
 			<camera name="user_camera">
-				<pose>-2 -0.3 1.5 0 0.5 0.1</pose>
+				<pose>-2.3 0 1.1 0 0.3 0</pose>
 			</camera>
 		</gui>
 		<physics type="ode">
@@ -23,7 +23,7 @@
 		</include>
 		<include>
 			<uri>model://flix</uri>
-			<pose>0 0 0.2 0 0 0</pose>
+			<pose>0 0 0.3 0 0 0</pose>
 		</include>
 	</world>
 </sdf>

gazebo/models/flix/flix.sdf

@@ -13,15 +13,10 @@
 			<collision name="collision">
 				<geometry>
 					<box>
-						<size>0.125711 0.125711 0.022</size>
+						<size>0.095 0.095 0.0276</size>
 					</box>
 				</geometry>
 			</collision>
-			<visual name="body">
-				<geometry>
-					<mesh><uri>model://flix/flix.dae</uri></mesh>
-				</geometry>
-			</visual>
 			<sensor name="imu" type="imu">
 				<always_on>1</always_on>
 				<visualize>1</visualize>
@@ -63,6 +58,37 @@
 					</linear_acceleration>
 				</imu>
 			</sensor>
+			<visual name="body">
+				<geometry>
+					<mesh><uri>model://flix/flix.stl</uri></mesh>
+				</geometry>
+				<material>
+					<ambient>0.5 0.5 0.6 1</ambient>
+					<diffuse>0.5 0.5 0.6 1</diffuse>
+					<specular>0 0 0 1</specular>
+					<emissive>0 0 0 1</emissive>
+				</material>
+			</visual>
+			<visual name="prop0"><!-- rear left -->
+				<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
+				<pose>-0.04243 0.04243 0.0142 0 0 0</pose>
+				<material><ambient>0.8 0.3 0.3 0.5</ambient><diffuse>0.8 0.3 0.3 0.5</diffuse></material>
+			</visual>
+			<visual name="prop1"><!-- rear right -->
+				<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
+				<pose>-0.04243 -0.04243 0.0142 0 0 0</pose>
+				<material><ambient>0.8 0.3 0.3 0.5</ambient><diffuse>0.8 0.3 0.3 0.5</diffuse></material>
+			</visual>
+			<visual name="prop2"><!-- front right -->
+				<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
+				<pose>0.04243 -0.04243 0.0142 0 0 0</pose>
+				<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
+			</visual>
+			<visual name="prop3"><!-- front left -->
+				<geometry><cylinder><radius>0.0275</radius><length>0</length></cylinder></geometry>
+				<pose>0.04243 0.04243 0.0142 0 0 0</pose>
+				<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
+			</visual>
 		</link>
 		<plugin name="flix" filename="libflix.so"/>
 	</model>

gazebo/simulator.cpp

@@ -17,7 +17,6 @@
 
 #include "Arduino.h"
 #include "flix.h"
-#include "util.h"
 #include "util.ino"
 #include "rc.ino"
 #include "time.ino"
@@ -47,8 +46,8 @@ public:
 		this->model = _parent;
 		this->body = this->model->GetLink("body");
 		this->imu = dynamic_pointer_cast<sensors::ImuSensor>(sensors::get_sensor(model->GetScopedName(true) + "::body::imu")); // default::flix::body::imu
-		this->updateConnection = event::Events::ConnectWorldUpdateBegin(bind(&ModelFlix::OnUpdate, this));
+		this->updateConnection = event::Events::ConnectWorldUpdateBegin(std::bind(&ModelFlix::OnUpdate, this));
-		this->resetConnection = event::Events::ConnectWorldReset(bind(&ModelFlix::OnReset, this));
+		this->resetConnection = event::Events::ConnectWorldReset(std::bind(&ModelFlix::OnReset, this));
 		initNode();
 		Serial.begin(0);
 		gzmsg << "Flix plugin loaded" << endl;
@@ -56,6 +55,7 @@ public:
 
 	void OnReset() {
 		attitude = Quaternion(); // reset estimated attitude
+		__resetTime += __micros;
 		gzmsg << "Flix plugin reset" << endl;
 	}
 
@@ -63,9 +63,9 @@ public:
 		__micros = model->GetWorld()->SimTime().Double() * 1000000;
 		step();
 
-		// read imu
+		// read virtual imu
-		gyro = flu2frd(imu->AngularVelocity());
+		gyro = Vector(imu->AngularVelocity().X(), imu->AngularVelocity().Y(), imu->AngularVelocity().Z());
-		acc = this->accFilter.update(flu2frd(imu->LinearAcceleration()));
+		acc = this->accFilter.update(Vector(imu->LinearAcceleration().X(), imu->LinearAcceleration().Y(), imu->LinearAcceleration().Z()));
 
 		// read rc
 		readRC();
@@ -75,7 +75,7 @@ public:
 		estimate();
 
 		// correct yaw to the actual yaw
-		attitude.setYaw(-this->model->WorldPose().Yaw());
+		attitude.setYaw(this->model->WorldPose().Yaw());
 
 		control();
 		parseInput();

gazebo/util.h

@@ -1,14 +0,0 @@
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Pose3.hh>
-
-using ignition::math::Vector3d;
-using ignition::math::Pose3d;
-
-Pose3d flu2frd(const Pose3d& p) {
-	return ignition::math::Pose3d(p.Pos().X(), -p.Pos().Y(), -p.Pos().Z(),
-	                              p.Rot().W(), p.Rot().X(), -p.Rot().Y(), -p.Rot().Z());
-}
-
-Vector flu2frd(const Vector3d& v) {
-	return Vector(v.X(), -v.Y(), -v.Z());
-}

gazebo/wifi.h

@@ -18,7 +18,7 @@ int wifiSocket;
 
 void setupWiFi() {
 	wifiSocket = socket(AF_INET, SOCK_DGRAM, 0);
-	sockaddr_in addr;
+	sockaddr_in addr; // local address
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_ANY;
 	addr.sin_port = htons(WIFI_UDP_PORT_LOCAL);
@@ -30,7 +30,7 @@ void setupWiFi() {
 
 void sendWiFi(const uint8_t *buf, int len) {
 	if (wifiSocket == 0) setupWiFi();
-	sockaddr_in addr;
+	sockaddr_in addr; // remote address
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
 	addr.sin_port = htons(WIFI_UDP_PORT_REMOTE);

tools/check_c_cpp_properties.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+
+import os
+import platform
+import json
+import re
+
+path = '.vscode/c_cpp_properties.json' if os.path.exists('./.vscode/c_cpp_properties.json') else '../.vscode/c_cpp_properties.json'
+txt = open(path).read()
+# remove comments
+txt = re.sub(r'//.*', '', txt)
+props = json.loads(txt)
+
+env = props.get('env', {})
+env['workspaceFolder'] = '.'
+
+def check_path(s):
+    source = s
+    # replace env
+    for key, value in env.items():
+        s = s.replace('${' + key + '}', value)
+    # remove globs from the end
+    if s.endswith('**'):
+        s = s[:-2]
+    elif s.endswith('*'):
+        s = s[:-1]
+    s = os.path.expanduser(s)
+    if s == '':
+        s = '.'
+    print('Check', source, '->', s)
+    assert os.path.exists(s), 'Path does not exist: ' + s
+
+# linux, macos or windows:
+platform = platform.system().lower()
+if platform == 'darwin':
+    platform = 'mac'
+elif platform == 'windows':
+    platform = 'win32'
+elif platform == 'linux':
+    pass
+else:
+    raise Exception('Unknown platform: ' + platform)
+
+for configuration in props['configurations']:
+    if platform not in configuration['name'].lower():
+        print('Skip configuration', configuration['name'])
+        continue
+
+    print('Check configuration', configuration['name'])
+
+    for include_path in configuration.get('includePath', []):
+        check_path(include_path)
+
+    for forced_include in configuration.get('forcedInclude', []):
+        check_path(forced_include)
+
+    for browse in configuration.get('browse', {}).get('path', []):
+        check_path(browse)
+
+    if 'compilerPath' in configuration:
+        check_path(configuration['compilerPath'])

tools/csv_to_mcap.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+
+"""Convert CSV log file to MCAP file.
+
+Usage:
+  csv_to_mcap.py <csv_file> [<mcap_file>]
+"""
+
+import csv
+import json
+import docopt
+from mcap.writer import Writer
+
+args = docopt.docopt(__doc__)
+input_file = args['<csv_file>']
+output_file = args['<mcap_file>'] or input_file.replace('.csv', '.mcap')
+if input_file == output_file:
+    raise ValueError('Input and output files are the same')
+
+csv_file = open(input_file, 'r')
+csv_reader = csv.reader(csv_file, delimiter=',')
+header = next(csv_reader)
+
+mcap_file = open(output_file, 'wb')
+writer = Writer(mcap_file)
+writer.start()
+
+properties = {key: {'type': 'number'} for key in header}
+schema_id = writer.register_schema(
+    name="state",
+    encoding="jsonschema",
+    data=json.dumps({"type": "object", "properties": properties}).encode(),
+)
+
+channel_id = writer.register_channel(
+    schema_id=schema_id,
+    topic="state",
+    message_encoding="json",
+)
+
+for row in csv_reader:
+    data = {key: float(value) for key, value in zip(header, row)}
+    timestamp = round(float(row[0]) * 1e9)
+    writer.add_message(channel_id=channel_id, log_time=timestamp, data=json.dumps(data).encode(), publish_time=timestamp,)
+
+writer.finish()

tools/csv_to_ulog/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.15)
+project(csv_to_ulog)
+include(FetchContent)
+set(CMAKE_CXX_STANDARD 17)
+
+FetchContent_Declare(
+  ulog_cpp
+  GIT_REPOSITORY https://github.com/PX4/ulog_cpp.git
+  GIT_TAG cf24ec6
+)
+
+FetchContent_Declare(
+  rapidcsv
+  GIT_REPOSITORY https://github.com/d99kris/rapidcsv.git
+  GIT_TAG v8.82
+)
+
+FetchContent_MakeAvailable(ulog_cpp)
+FetchContent_MakeAvailable(rapidcsv)
+
+add_executable(csv_to_ulog csv_to_ulog.cpp)
+target_link_libraries(csv_to_ulog PUBLIC ulog_cpp::ulog_cpp)
+target_include_directories(csv_to_ulog PUBLIC ${rapidcsv_SOURCE_DIR}/src)

tools/csv_to_ulog/README.md

@@ -0,0 +1,20 @@
+# csv_to_ulog
+
+Tool for converting CSV flight logs to ULog format so they can be analyzed using [FlightPlot](https://github.com/PX4/FlightPlot) software.
+
+To build, go to the `<flix>/tools/csv_to_ulog` directory and run:
+
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+Convert a CSV file to ULog:
+
+```bash
+./csv_to_ulog log_file.csv
+```
+
+ULog file will be saved in the same directory.

tools/csv_to_ulog/csv_to_ulog.cpp

@@ -0,0 +1,72 @@
+// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// Tool for conversion CSV log file to ULog format
+
+#include <ulog_cpp/simple_writer.hpp>
+#include <rapidcsv.h>
+#include <vector>
+#include <string>
+#include <filesystem>
+
+using std::vector;
+using std::string;
+
+struct Data {
+	uint64_t timestamp;
+	float values[30];
+};
+
+int main(int argc, char** argv)
+{
+	if (argc < 2) {
+		printf("Usage: %s file.csv [file.ulg]\n", argv[0]);
+		return -1;
+	}
+
+	// check input file exists
+	if (!std::filesystem::exists(argv[1])) {
+		printf("Input file \"%s\" does not exist\n", argv[1]);
+		return -1;
+	}
+
+	// open csv file
+	rapidcsv::Document csv(argv[1]);
+	auto columns = csv.GetColumnNames();
+
+
+	// open ulog file
+	string ulog_file;
+	if (argc < 3) {
+		ulog_file = std::filesystem::path(argv[1]).replace_extension(".ulg").string();
+	} else {
+		ulog_file = argv[2];
+	}
+	ulog_cpp::SimpleWriter writer(ulog_file.c_str(), 0);
+	writer.writeInfo("sys_name", "flix");
+
+	vector<ulog_cpp::Field> fields;
+	fields.push_back(ulog_cpp::Field("uint64_t", "timestamp"));
+	columns.erase(columns.begin()); // remove timestamp column
+	for (auto& column : columns) {
+		// Valid field name for ULog: [a-z0-9_]+
+		std::replace(column.begin(), column.end(), '.', '_'); // replace dots with underscores
+		std::transform(column.begin(), column.end(), column.begin(), [](unsigned char c) { return std::tolower(c); }); // lowercase column name
+		fields.push_back(ulog_cpp::Field("float", column));
+	}
+
+	const char* msg_name = "state";
+	writer.writeMessageFormat(msg_name, fields);
+	writer.headerComplete();
+
+	const uint16_t msg_id = writer.writeAddLoggedMessage(msg_name);
+
+	for (size_t i = 0; i < csv.GetRowCount(); i++) {
+		Data data;
+		data.timestamp = csv.GetCell<float>(0, i) * 1000000.0;
+		for (size_t j = 1; j <= columns.size(); j++) {
+			data.values[j - 1] = csv.GetCell<float>(j, i);
+		}
+		writer.writeData(msg_id, data);
+	}
+}

tools/requirements.txt

@@ -1,2 +1,3 @@
 docopt
 matplotlib
+mcap