Try to build the sim on the latest macos

To make it consistent with the documentation

.github/workflows/build.yml

@@ -19,7 +19,7 @@ jobs:
       run: tools/check_c_cpp_properties.py
 
   build_macos:
-    runs-on: macos-latest
+    runs-on: macos-14
     steps:
     - uses: actions/checkout@v4
     - name: Install Arduino CLI
@@ -61,7 +61,7 @@ jobs:
         retention-days: 1
 
   build_simulator_macos:
-    runs-on: macos-latest
+    runs-on: macos-15
     steps:
     - name: Install Arduino CLI
       run: brew install arduino-cli
@@ -79,3 +79,21 @@ jobs:
       run: brew install sdl2
     - name: Build simulator
       run: make build_simulator
+
+  install_gz_ionic_macos:
+    runs-on: macos-15
+    steps:
+    - name: Install Gazebo
+      run: brew update && brew tap osrf/simulation && brew install gz-ionic
+
+  install_gz_jetty_macos:
+    runs-on: macos-15
+    steps:
+    - name: Install Gazebo
+      run: brew update && brew tap osrf/simulation && brew install gz-jetty
+
+  install_gz_harmonic_macos:
+    runs-on: macos-15
+    steps:
+    - name: Install Gazebo
+      run: brew update && brew tap osrf/simulation && brew install gz-harmonic

.vscode/c_cpp_properties.json

@@ -5,18 +5,18 @@
 			"includePath": [
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/libraries/**",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/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_v5.1-632e0c2a/esp32/**",
-				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/dio_qspi/include",
+				"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
 				"~/Arduino/libraries/**",
 				"/usr/include/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32/Arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
-				"~/.arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32/pins_arduino.h",
+				"~/.arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",
@@ -52,18 +52,18 @@
 			"includePath": [
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/libraries/**",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/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_v5.1-632e0c2a/esp32/include/**",
-				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/dio_qspi/include",
+				"~/Library/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
 				"~/Documents/Arduino/libraries/**",
 				"/opt/homebrew/include/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32/Arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
-				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32/pins_arduino.h",
+				"~/Library/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/flix.ino",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
@@ -100,17 +100,17 @@
 			"includePath": [
 				"${workspaceFolder}/flix",
 				"${workspaceFolder}/gazebo",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/libraries/**",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/libraries/**",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/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_v5.1-632e0c2a/esp32/**",
-				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-dc859c1e67/esp32/dio_qspi/include",
+				"~/AppData/Local/Arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.1-632e0c2a/esp32/dio_qspi/include",
 				"~/Documents/Arduino/libraries/**"
 			],
 			"forcedInclude": [
 				"${workspaceFolder}/.vscode/intellisense.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/cores/esp32/Arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/cores/esp32/Arduino.h",
-				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.3/variants/d1_mini32/pins_arduino.h",
+				"~/AppData/Local/Arduino15/packages/esp32/hardware/esp32/3.0.7/variants/d1_mini32/pins_arduino.h",
 				"${workspaceFolder}/flix/cli.ino",
 				"${workspaceFolder}/flix/control.ino",
 				"${workspaceFolder}/flix/estimate.ino",

Makefile

@@ -13,10 +13,10 @@ monitor:
 
 dependencies .dependencies:
 	arduino-cli core update-index --config-file arduino-cli.yaml
-	arduino-cli core install esp32:esp32@3.0.3 --config-file arduino-cli.yaml
+	arduino-cli core install esp32:esp32@3.0.7 --config-file arduino-cli.yaml
 	arduino-cli lib update-index
 	arduino-cli lib install "FlixPeriph"
-	arduino-cli lib install "MAVLink"@2.0.10
+	arduino-cli lib install "MAVLink"@2.0.12
 	touch .dependencies
 
 gazebo/build cmake: gazebo/CMakeLists.txt

README.md

@@ -53,25 +53,27 @@ See [instructions on running the simulation](docs/build.md).
 |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|
+|IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|<img src="docs/img/gy-91.jpg" width=90 align=center><img src="docs/img/icm-20948.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|
+|MOSFET (transistor)|100N03A or [analog](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 bottom part|3D printed⁴:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<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|
+|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: [`washer-m3.stl`](docs/assets/washer-m3.stl)|<img src="docs/img/washer-m3.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>|1|
-|*RC transmitter (optional)*|*KINGKONG TINY X8 or other³*|<img src="docs/img/tx.jpg" width=100>|1|
+|*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*|<img src="docs/img/tx.jpg" width=100>|1|
-|*RC receiver (optional)*|*DF500 or other³*|<img src="docs/img/rx.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||||
 
 *² — barometer is not used for now.*<br>
-*³ — you may use any transmitter-receiver pair with SBUS interface.*
+*³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br>
+*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
+*⁵ — you may use any transmitter-receiver pair with SBUS interface.*
 
 Tools required for assembly:
 
@@ -98,15 +100,15 @@ 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:
+* Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins:
 
-  |GY-91 pin|ESP32 pin|
+  |IMU pin|ESP32 pin|
   |-|-|
   |GND|GND|
   |3.3V|3.3V|
-  |SCK|SVP (GPIO18)|
+  |SCL *(SCK)*|SVP (GPIO18)|
-  |MOSI|GPIO23|
+  |SDA *(MOSI)*|GPIO23|
-  |MISO|GPIO19|
+  |SAO *(MISO)*|GPIO19|
   |NCS|GPIO5|
 
 * Solder pull-down resistors to the MOSFETs.
@@ -127,9 +129,19 @@ Complete diagram is Work-in-Progress.
   |-|-|
   |GND|GND|
   |VIN|VC (or 3.3V depending on the receiver)|
-  |Signal|GPIO4⁴|
+  |Signal|GPIO4⁶|
 
-*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.*
+*⁶ — 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.*
+
+### IMU placement
+
+Required IMU orientation on the drone is **FLU** (Forward, Left, Up)⁷:
+
+<img src="docs/img/flu.svg" width=400 alt="GY-91 axis">
+
+In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98).
+
+*⁷ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.*
 
 ## Version 0
 

docs/assets/washer-m3.step

@@ -0,0 +1,200 @@
+ISO-10303-21;
+HEADER;
+
+FILE_DESCRIPTION(
+/* description */ (''),
+/* implementation_level */ '2;1');
+
+FILE_NAME(
+/* name */ 'washer-m3.step',
+/* time_stamp */ '2024-10-29T13:59:42+03:00',
+/* author */ (''),
+/* organization */ (''),
+/* preprocessor_version */ '',
+/* originating_system */ '',
+
+/* authorisation */ '');
+
+FILE_SCHEMA (('AUTOMOTIVE_DESIGN { 1 0 10303 214 3 1 1 }'));
+ENDSEC;
+
+DATA;
+#10=MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(#13),#125);
+#11=SHAPE_REPRESENTATION_RELATIONSHIP('SRR','None',#132,#12);
+#12=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#14),#124);
+#13=STYLED_ITEM('',(#141),#14);
+#14=MANIFOLD_SOLID_BREP('Body1',#65);
+#15=FACE_BOUND('',#26,.T.);
+#16=FACE_BOUND('',#28,.T.);
+#17=PLANE('',#85);
+#18=PLANE('',#86);
+#19=FACE_OUTER_BOUND('',#23,.T.);
+#20=FACE_OUTER_BOUND('',#24,.T.);
+#21=FACE_OUTER_BOUND('',#25,.T.);
+#22=FACE_OUTER_BOUND('',#27,.T.);
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+#28=EDGE_LOOP('',(#58));
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+#34=CIRCLE('',#81,1.7);
+#35=CIRCLE('',#83,2.7);
+#36=CIRCLE('',#84,2.7);
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+#38=VERTEX_POINT('',#111);
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+POSITIVE_RATIO_MEASURE(7850.),#69);
+#71=PROPERTY_DEFINITION_REPRESENTATION(#76,#73);
+#72=PROPERTY_DEFINITION_REPRESENTATION(#77,#74);
+#73=REPRESENTATION('material name',(#75),#124);
+#74=REPRESENTATION('density',(#70),#124);
+#75=DESCRIPTIVE_REPRESENTATION_ITEM('Steel','Steel');
+#76=PROPERTY_DEFINITION('material property','material name',#134);
+#77=PROPERTY_DEFINITION('material property','density of part',#134);
+#78=AXIS2_PLACEMENT_3D('',#107,#87,#88);
+#79=AXIS2_PLACEMENT_3D('',#108,#89,#90);
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+#84=AXIS2_PLACEMENT_3D('',#119,#101,#102);
+#85=AXIS2_PLACEMENT_3D('',#120,#103,#104);
+#86=AXIS2_PLACEMENT_3D('',#121,#105,#106);
+#87=DIRECTION('axis',(0.,0.,1.));
+#88=DIRECTION('refdir',(1.,0.,0.));
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+#121=CARTESIAN_POINT('Origin',(0.,0.,0.));
+#122=UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(0.01),#126,
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+'Maximum model space distance between geometric entities at asserted c
+onnectivities');
+#123=UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(0.01),#126,
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+onnectivities');
+#124=(
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+);
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+NAMED_UNIT(*)
+SI_UNIT(.MILLI.,.METRE.)
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+);
+#130=SHAPE_DEFINITION_REPRESENTATION(#131,#132);
+#131=PRODUCT_DEFINITION_SHAPE('',$,#134);
+#132=SHAPE_REPRESENTATION('',(#78),#124);
+#133=PRODUCT_DEFINITION_CONTEXT('part definition',#138,'design');
+#134=PRODUCT_DEFINITION('washer-m3','washer-m3',#135,#133);
+#135=PRODUCT_DEFINITION_FORMATION('',$,#140);
+#136=PRODUCT_RELATED_PRODUCT_CATEGORY('washer-m3','washer-m3',(#140));
+#137=APPLICATION_PROTOCOL_DEFINITION('international standard',
+'automotive_design',2009,#138);
+#138=APPLICATION_CONTEXT(
+'Core Data for Automotive Mechanical Design Process');
+#139=PRODUCT_CONTEXT('part definition',#138,'mechanical');
+#140=PRODUCT('washer-m3','washer-m3',$,(#139));
+#141=PRESENTATION_STYLE_ASSIGNMENT((#142));
+#142=SURFACE_STYLE_USAGE(.BOTH.,#143);
+#143=SURFACE_SIDE_STYLE('',(#144));
+#144=SURFACE_STYLE_FILL_AREA(#145);
+#145=FILL_AREA_STYLE('Steel - Satin',(#146));
+#146=FILL_AREA_STYLE_COLOUR('Steel - Satin',#147);
+#147=COLOUR_RGB('Steel - Satin',0.627450980392157,0.627450980392157,0.627450980392157);
+ENDSEC;
+END-ISO-10303-21;

docs/build.md

@@ -9,7 +9,9 @@ cd flix
 
 ## Simulation
 
-### Ubuntu
+### Ubuntu 20.04
+
+The latest version of Ubuntu supported by Gazebo 11 simulator is 20.04. If you have a newer version, consider using a virtual machine.
 
 1. Install Arduino CLI:
 
@@ -104,10 +106,10 @@ cd flix
 ### Arduino IDE (Windows, Linux, macOS)
 
 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
-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.
+2. Install ESP32 core, version 3.0.7 (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`.
+   * `FlixPeriph`, the latest version.
-   * `MAVLink`, version 2.0.10.
+   * `MAVLink`, version 2.0.12.
 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.
@@ -163,6 +165,9 @@ Before flight using remote control, you need to calibrate it:
 
 Then you can use your remote control to fly the drone!
 
+> [!NOTE]
+> If something goes wrong, go to the [Troubleshooting](troubleshooting.md) article.
+
 ### Firmware code structure
 
 See [firmware overview](firmware.md) for more details.

docs/troubleshooting.md

@@ -0,0 +1,32 @@
+# Troubleshooting
+
+## The sketch doesn't compile
+
+Do the following:
+
+* **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.
+
+## The drone doesn't fly
+
+Do the following:
+
+* **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V.
+* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output.
+* **Make sure correct IMU model is chosen**. If using ICM-20948 board, change `MPU9250` to `ICM20948` everywhere in the `imu.ino` file.
+* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands.
+* **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+* **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while.
+* **Check the IMU sample rate**. Perform `imu` command. The `rate` field should be about 1000 (Hz).
+* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
+* **Calibrate the accelerometer.** if is wasn't done before. Perform `ca` command and put the results to `imu.ino` file.
+* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct.
+* **Check the motors**. Perform the following commands using Serial Monitor:
+  * `mfr` — should rotate front right motor (counter-clockwise).
+  * `mfl` — should rotate front left motor (clockwise).
+  * `mrl` — should rotate rear left motor (counter-clockwise).
+  * `mrr` — should rotate rear right motor (clockwise).
+* **Calibrate the RC** if you use it. Perform `rc` command and put the results to `rc.ino` file.
+* **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
+* **Check the IMU output using QGroundControl**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement.
+* **Check the gyroscope only attitude estimation**. Comment out `applyAcc();` line in `estimate.ino` and check if the attitude estimation in QGroundControl. It should be stable, but only drift very slowly.

flix/cli.ino

@@ -30,8 +30,7 @@ const char* motd =
 "cr - calibrate RC\n"
 "cg - calibrate gyro\n"
 "ca - calibrate accel\n"
-"mfr, mfl, mrr, mrl - test appropriate motor\n"
+"mfr, mfl, mrr, mrl - test motor\n"
-"fullmot <n> - full motor test\n"
 "reset - reset drone's state\n";
 
 const struct Param {
@@ -54,7 +53,7 @@ const struct Param {
 	{"lpr", &ratesFilter.alpha, nullptr},
 	{"lpd", &rollRatePID.lpf.alpha, &pitchRatePID.lpf.alpha},
 
-	{"ss", &loopFreq, nullptr},
+	{"ss", &loopRate, nullptr},
 	{"dt", &dt, nullptr},
 	{"t", &t, nullptr},
 };
@@ -70,10 +69,11 @@ void doCommand(String& command, String& value) {
 	} else if (command == "psq") {
 		Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
 	} else if (command == "imu") {
+		printIMUInfo();
 		Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
 		Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
 		printIMUCal();
-		Serial.printf("frequency: %f\n", loopFreq);
+		Serial.printf("rate: %f\n", loopRate);
 	} else if (command == "rc") {
 		Serial.printf("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n",
 			channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH],
@@ -101,8 +101,6 @@ void doCommand(String& command, String& value) {
 		cliTestMotor(MOTOR_REAR_RIGHT);
 	} else if (command == "mrl") {
 		cliTestMotor(MOTOR_REAR_LEFT);
-	} else if (command == "fullmot") {
-		fullMotorTest(value.toInt());
 	} else if (command == "reset") {
 		attitude = Quaternion();
 	} else {
@@ -134,8 +132,9 @@ void showTable() {
 void cliTestMotor(uint8_t n) {
 	Serial.printf("Testing motor %d\n", n);
 	motors[n] = 1;
+	delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
 	sendMotors();
-	delay(5000);
+	delay(3000);
 	motors[n] = 0;
 	sendMotors();
 	Serial.println("Done");

flix/control.ino

@@ -52,6 +52,7 @@ float thrustTarget;
 
 void control() {
 	interpretRC();
+	failsafe();
 	if (mode == STAB) {
 		controlAttitude();
 		controlRate();

flix/estimate.ino

@@ -16,7 +16,6 @@ LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
 void estimate() {
 	applyGyro();
 	applyAcc();
-	signalizeHorizontality();
 }
 
 void applyGyro() {
@@ -43,8 +42,3 @@ void applyAcc() {
 	attitude *= Quaternion::fromAngularRates(correction);
 	attitude.normalize();
 }
-
-void signalizeHorizontality() {
-	float angle = Vector::angleBetweenVectors(attitude.rotate(Vector(0, 0, 1)), Vector(0, 0, 1));
-	setLED(angle < radians(15));
-}

flix/failsafe.ino

@@ -0,0 +1,22 @@
+// Copyright (c) 2024 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+// Fail-safe for RC loss
+
+#define RC_LOSS_TIMEOUT 0.2
+#define DESCEND_TIME 3.0 // time to descend from full throttle to zero
+
+void failsafe() {
+	if (t - controlsTime > RC_LOSS_TIMEOUT) {
+		descend();
+	}
+}
+
+void descend() {
+	// Smooth descend on RC lost
+	mode = STAB;
+	controls[RC_CHANNEL_ROLL] = 0;
+	controls[RC_CHANNEL_PITCH] = 0;
+	controls[RC_CHANNEL_YAW] = 0;
+	controls[RC_CHANNEL_THROTTLE] -= dt / DESCEND_TIME;
+}

flix/flix.ino

@@ -25,9 +25,10 @@
 
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
-float loopFreq; // loop frequency, Hz
+float loopRate; // loop rate, Hz
 int16_t channels[RC_CHANNELS]; // raw rc channels
 float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
+float controlsTime; // time of the last controls update
 Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s
 Vector rates; // filtered angular rates, rad/s

flix/imu.ino

@@ -27,14 +27,15 @@ void setupIMU() {
 			delay(1000);
 		}
 	}
+	configureIMU();
 	calibrateGyro();
 }
 
 void configureIMU() {
 	IMU.setAccelRange(IMU.ACCEL_RANGE_4G);
 	IMU.setGyroRange(IMU.GYRO_RANGE_2000DPS);
-	IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_184HZ);
+	IMU.setDLPF(IMU.DLPF_MAX);
-	IMU.setSrd(0); // set sample rate to 1000 Hz
+	IMU.setRate(IMU.RATE_1KHZ_APPROX);
 }
 
 void readIMU() {
@@ -66,8 +67,6 @@ void calibrateGyro() {
 void calibrateAccel() {
 	Serial.println("Calibrating accelerometer");
 	IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode
-	IMU.setDlpfBandwidth(IMU.DLPF_BANDWIDTH_20HZ);
-	IMU.setSrd(19);
 
 	Serial.setTimeout(60000);
 	Serial.print("Place level [enter] "); Serial.readStringUntil('\n');
@@ -88,7 +87,7 @@ void calibrateAccel() {
 }
 
 void calibrateAccelOnce() {
-	const int samples = 100;
+	const int samples = 1000;
 	static Vector accMax(-INFINITY, -INFINITY, -INFINITY);
 	static Vector accMin(INFINITY, INFINITY, INFINITY);
 
@@ -118,7 +117,12 @@ void calibrateAccelOnce() {
 }
 
 void printIMUCal() {
-	Serial.printf("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
+	Serial.printf("gyro bias: %f, %f, %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
-	Serial.printf("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
+	Serial.printf("accel bias: %f, %f, %f\n", accBias.x, accBias.y, accBias.z);
-	Serial.printf("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
+	Serial.printf("accel scale: %f, %f, %f\n", accScale.x, accScale.y, accScale.z);
+}
+
+void printIMUInfo() {
+	Serial.printf("model: %s\n", IMU.getModel());
+	Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
 }

flix/led.ino

@@ -1,7 +1,7 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix
 
-// Main LED control
+// Board's LED control
 
 #define BLINK_PERIOD 500000
 
@@ -14,7 +14,12 @@ void setupLED() {
 }
 
 void setLED(bool on) {
+	static bool state = false;
+	if (on == state) {
+		return; // don't call digitalWrite if the state is the same
+	}
 	digitalWrite(LED_BUILTIN, on ? HIGH : LOW);
+	state = on;
 }
 
 void blinkLED() {

flix/mavlink.ino

@@ -93,6 +93,7 @@ void handleMavlink(const void *_msg) {
 		controls[RC_CHANNEL_YAW] = manualControl.r / 1000.0f * MAVLINK_CONTROL_SCALE;
 		controls[RC_CHANNEL_MODE] = 1; // STAB mode
 		controls[RC_CHANNEL_ARMED] = 1; // armed
+		controlsTime = t;
 
 		if (abs(controls[RC_CHANNEL_YAW]) < MAVLINK_CONTROL_YAW_DEAD_ZONE) controls[RC_CHANNEL_YAW] = 0;
 	}

flix/motors.ino

@@ -37,14 +37,3 @@ void sendMotors() {
 	ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2]));
 	ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3]));
 }
-
-void fullMotorTest(int n) {
-	printf("Full test for motor %d\n", n);
-	for (float signal = 0; signal <= 1; signal += 0.1) {
-		printf("Motor %d: %f\n", n, signal);
-		ledcWrite(n, signalToDutyCycle(signal));
-		delay(3000);
-	}
-	printf("Motor %d: %f\n", n, 0);
-	ledcWrite(n, signalToDutyCycle(0));
-}

flix/rc.ino

@@ -9,7 +9,7 @@
 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
 
-SBUS RC(Serial2, 16, 17); // NOTE: remove pin numbers (16, 17) if you use the new default pins for Serial2 (4, 25)
+SBUS RC(Serial2); // NOTE: Use RC(Serial2, 16, 17) if you use the old UART2 pins
 
 void setupRC() {
 	Serial.println("Setup RC");
@@ -21,6 +21,7 @@ void readRC() {
 		SBUSData data = RC.data();
 		memcpy(channels, data.ch, sizeof(channels)); // copy channels data
 		normalizeRC();
+		controlsTime = t;
 	}
 }
 

flix/time.ino

@@ -12,16 +12,16 @@ void step() {
 		dt = 0; // assume dt to be zero on first step and on reset
 	}
 
-	computeLoopFreq();
+	computeLoopRate();
 }
 
-void computeLoopFreq() {
+void computeLoopRate() {
 	static float windowStart = 0;
-	static uint32_t freq = 0;
+	static uint32_t rate = 0;
-	freq++;
+	rate++;
 	if (t - windowStart >= 1) { // 1 second window
-		loopFreq = freq;
+		loopRate = rate;
 		windowStart = t;
-		freq = 0;
+		rate = 0;
 	}
 }

flix/util.ino

@@ -15,14 +15,6 @@ float mapff(float x, float in_min, float in_max, float out_min, float out_max) {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-int8_t sign(float x) {
-	return (x > 0) - (x < 0);
-}
-
-float randomFloat(float min, float max) {
-	return min + (max - min) * (float)rand() / RAND_MAX;
-}
-
 // Wrap angle to [-PI, PI)
 float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);

gazebo/flix.h

@@ -21,20 +21,20 @@
 
 float t = NAN;
 float dt;
-float loopFreq;
+float loopRate;
 float motors[4];
 int16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS];
+float controlsTime;
 Vector acc;
 Vector gyro;
 Vector rates;
 Quaternion attitude;
 
 // declarations
-void computeLoopFreq();
+void computeLoopRate();
 void applyGyro();
 void applyAcc();
-void signalizeHorizontality();
 void control();
 void interpretRC();
 void controlAttitude();
@@ -49,12 +49,14 @@ void sendMavlink();
 void sendMessage(const void *msg);
 void receiveMavlink();
 void handleMavlink(const void *_msg);
+void failsafe();
+void descend();
 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) { printf("Skip full motor test\n"); };
 void sendMotors() {};
 void printIMUCal() { printf("cal: N/A\n"); };
+void printIMUInfo() {};

gazebo/simulator.cpp

@@ -25,6 +25,7 @@
 #include "log.ino"
 #include "cli.ino"
 #include "mavlink.ino"
+#include "failsafe.ino"
 #include "lpf.h"
 
 using ignition::math::Vector3d;