Merge branch 'master' into run-sim

Test simulator run in CI
2026-01-11 13:36:43 +00:00 · 2024-05-24 22:35:36 +03:00 · 2024-01-31 17:23:07 +03:00 · 2024-01-25 23:53:08 +03:00
60 changed files with 162 additions and 1134 deletions
--- a/.editorconfig
+++ b/.editorconfig
@@ -4,7 +4,7 @@ root = true
 end_of_line = lf
 insert_final_newline = true

-[*.{ino,cpp,c,h,hpp,sdf,world,json}]
+[*.{ino,cpp,c,h,hpp,sdf,world}]
 charset = utf-8
 indent_style = tab
 tab_width = 4
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -7,53 +7,49 @@ on:
    branches: [ master ]

 jobs:
-  build_linux:
+  build:
    runs-on: ubuntu-latest
    steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v3
    - 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@v4
+    - uses: actions/checkout@v3
    - 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@v4
+    - uses: actions/checkout@v3
    - 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@v4
+    - uses: actions/checkout@v3
    - 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
@@ -65,7 +61,7 @@ jobs:
    steps:
    - name: Install Arduino CLI
      run: brew install arduino-cli
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v3
    - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577
      run: |
        rm -f /usr/local/bin/2to3*
@@ -79,3 +75,7 @@ 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 ]
--- a/.github/workflows/tools.yml
+++ b/.github/workflows/tools.yml
@@ -1,33 +0,0 @@
-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 $(stat -c %s log.mcap) -eq 883
--- a/.gitignore
+++ b/.gitignore
@@ -3,10 +3,3 @@
 build/
 tools/log/
 .dependencies
-.vscode/*
-!.vscode/settings.json
-!.vscode/c_cpp_properties.json
-!.vscode/tasks.json
-!.vscode/launch.json
-!.vscode/extensions.json
-!.vscode/intellisense.h
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -1,147 +0,0 @@
-{
-	"configurations": [
-		{
-			"name": "Linux",
-			"includePath": [
-				"${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",
-				"${workspaceFolder}/flix/wifi.ino"
-			],
-			"compilerPath": "~/AppData/Local/Arduino15/packages/esp32/tools/esp-x32/2302/bin/xtensa-esp32-elf-g++.exe",
-			"cStandard": "c11",
-			"cppStandard": "c++17",
-			"defines": [
-				"F_CPU=240000000L",
-				"ARDUINO=10607",
-				"ARDUINO_D1_MINI32",
-				"ARDUINO_ARCH_ESP32",
-				"ARDUINO_BOARD=D1_MINI32",
-				"ARDUINO_VARIANT=d1_mini32",
-				"ARDUINO_PARTITION_default",
-				"ARDUINO_FQBN=esp32:esp32:d1_mini32",
-				"ESP32",
-				"CORE_DEBUG_LEVEL=0",
-				"ARDUINO_USB_CDC_ON_BOOT="
-			]
-		}
-	],
-	"version": 4
-}
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -1,10 +0,0 @@
-{
-	// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
-	"recommendations": [
-		"ms-vscode.cpptools",
-		"twxs.cmake",
-		"ms-vscode.cmake-tools",
-		"ms-python.python"
-	],
-	"unwantedRecommendations": []
-}
--- a/.vscode/intellisense.h
+++ b/.vscode/intellisense.h
@@ -1,5 +0,0 @@
-#ifdef __INTELLISENSE__
-	#pragma diag_suppress 144, 513
-	// diag 144: a value of type "enum <unnamed>" cannot be used to initialize an entity of type "enum <unnamed>"C/C++
-	// diag 513: a value of type "enum <unnamed>" cannot be assigned to an entity of type "enum <unnamed>"C/C++
-#endif
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -1,25 +0,0 @@
-{
-	"version": "0.2.0",
-	"configurations": [
-		{
-			"name": "Debug simulation",
-			"type": "cppdbg",
-			"request": "launch",
-			"program": "/usr/bin/gzserver",
-			"osx": {
-				"program": "/opt/homebrew/bin/gzserver",
-				"MIMode": "lldb",
-			},
-			"args": ["--verbose", "${workspaceFolder}/gazebo/flix.world"],
-			"stopAtEntry": false,
-			"cwd": "${fileDirname}",
-			"environment": [
-				{"name": "GAZEBO_MODEL_PATH", "value": "${workspaceFolder}/gazebo/models"},
-				{"name": "GAZEBO_PLUGIN_PATH", "value": "${workspaceFolder}/gazebo/build"}
-			],
-			"MIMode": "gdb",
-			"preLaunchTask": "Build simulator",
-			"externalConsole": true,
-		},
-	]
-}
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,13 +0,0 @@
-{
-	"C_Cpp.intelliSenseEngineFallback": "enabled",
-	"files.associations": {
-		"*.sdf": "xml",
-		"*.ino": "cpp",
-		"*.h": "cpp"
-	},
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.function": "newLine",
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.block": "sameLine",
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.lambda": "sameLine",
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.namespace": "sameLine",
-	"C_Cpp.vcFormat.newLine.beforeOpenBrace.type": "sameLine"
-}
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -1,31 +0,0 @@
-{
-	"tasks": [
-		{
-			"label": "Build firmware",
-			"type": "shell",
-			"command": "make",
-			"problemMatcher": [ "$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"
-}
--- a/7
+++ b/7
@@ -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@2.0.11 --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"@2.0.1
 	touch .dependencies

 gazebo/build cmake: gazebo/CMakeLists.txt
@@ -26,10 +26,11 @@ 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
--- a/README.md
+++ b/README.md
@@ -1,144 +1,69 @@
-# 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.

-<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>
+<img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter">

 ## Features

 * Simple and clean Arduino based source code.
 * Acro and Stabilized flight using remote control.
 * Precise simulation using Gazebo.
-* [In-RAM logging](docs/log.md).
+* In-RAM logging.
 * Command line interface through USB port.
 * Wi-Fi support.
 * MAVLink support.
 * Control using mobile phone (with QGroundControl app).
-* Completely 3D-printed frame.
-* *Textbook and videos for students on writing a flight controller¹.*
-* *Position control and autonomous flights using external camera¹*.
+* ESCs with reverse mode support.
+* *Textbook and videos for students on writing a flight controller\*.*
+* *Completely 3D-printed frame*.*
+* *Position control and autonomous flights using external camera\**.
 * [Building and running instructions](docs/build.md).

-*¹ — planned.*
+*\* — 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>

-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>
+See YouTube demo video: https://youtu.be/8GzzIQ3C6DQ.

 ## Simulation

-The simulator is implemented using Gazebo and runs the original Arduino code:
+Simulation in Gazebo using a plugin that runs original Arduino code is implemented:

 <img src="docs/img/simulator.png" width=500 alt="Flix simulator">

-See [instructions on running the simulation](docs/build.md).
+## Schematics

-## Components (version 1)
+<img src="docs/img/schematics.svg" width=800 alt="Flix schematics">

-|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||||
+You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/) of the drone.

-*² — barometer is not used for now.*<br>
-*³ — you may use any transmitter-receiver pair with SBUS interface.*
+*\* — SBUS inverter is not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*

-Tools required for assembly:
+## Components (version 0)

-* 3D printer.
-* Soldering iron.
-* Solder wire (with flux).
-* Screwdrivers.
-* Multimeter.
+|Component|Type|Image|Quantity|
+|-|-|-|-|
+|ESP32 Mini|Microcontroller board|<img src="docs/img/esp32.jpg" width=100>|1|
+|GY-91|IMU+LDO+barometer board|<img src="docs/img/gy-91.jpg" width=100>|1|
+|K100|Quadcopter frame|<img src="docs/img/frame.jpg" width=100>|1|
+|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|||

-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).
+*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*

 ## Materials

-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.
+Subscribe to Telegram-channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.

 Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.
--- a/docs/assets/esp32-holder.stl
+++ b/docs/assets/esp32-holder.stl
--- a/docs/assets/flix-frame.stl
+++ b/docs/assets/flix-frame.stl
--- a/docs/assets/washer-m3.stl
+++ b/docs/assets/washer-m3.stl
--- a/docs/build.md
+++ b/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=~/.local/bin sh
+   curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
   ```

 2. Install Gazebo 11:
@@ -78,36 +78,19 @@ cd flix
   make simulator
   ```

-### Setup and flight
+### Flight

-#### Control with smartphone
-
-1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
-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!
+Use USB remote control or QGroundControl mobile app (with *Virtual Joystick* setting enabled) to control the drone. *Auto-Center Throttle* setting **should be disabled**.

 ## Firmware

 ### 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 using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
 3. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library):
   * `FlixPeriph`.
-   * `MAVLink`, version 2.0.10.
+   * `MAVLink`, version 2.0.1.
 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.
@@ -136,33 +119,12 @@ cd flix

 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`).
--- a/docs/img/100n03a.jpg
+++ b/docs/img/100n03a.jpg
--- a/docs/img/battery.jpg
+++ b/docs/img/battery.jpg
--- a/docs/img/esp32-holder.jpg
+++ b/docs/img/esp32-holder.jpg
--- a/docs/img/flight-video.jpg
+++ b/docs/img/flight-video.jpg
--- a/docs/img/flightplot.png
+++ b/docs/img/flightplot.png
--- a/docs/img/flix1.jpg
+++ b/docs/img/flix1.jpg
--- a/docs/img/foxglove.png
+++ b/docs/img/foxglove.png
--- a/docs/img/frame1.jpg
+++ b/docs/img/frame1.jpg
--- a/docs/img/mosfet-connection.png
+++ b/docs/img/mosfet-connection.png
--- a/docs/img/plotjuggler.png
+++ b/docs/img/plotjuggler.png
--- a/docs/img/resistor10k.jpg
+++ b/docs/img/resistor10k.jpg
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+++ b/docs/img/schematics1.svg
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--- a/docs/img/screw-m1.4.jpg
+++ b/docs/img/screw-m1.4.jpg
--- a/docs/img/screw-m3.jpg
+++ b/docs/img/screw-m3.jpg
--- a/docs/img/washer-m3.jpg
+++ b/docs/img/washer-m3.jpg
--- a/docs/img/wire-28awg.jpg
+++ b/docs/img/wire-28awg.jpg
--- a/docs/log.md
+++ b/docs/log.md
@@ -1,72 +0,0 @@
-# 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.
--- a/docs/version0.md
+++ b/docs/version0.md
@@ -1,30 +0,0 @@
-# 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.
--- a/flix/cli.ino
+++ b/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());
+		fullMotorTest(value.toInt(), false);
 	} else if (command == "reset") {
 		attitude = Quaternion();
 	} else {
--- a/flix/control.ino
+++ b/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;
-		ratesTarget.z = -controls[RC_CHANNEL_YAW] * YAWRATE_MAX; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.y = -controls[RC_CHANNEL_PITCH] * PITCHRATE_MAX; // up pitch stick means tilt clockwise in frd
+		ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX;

 	} 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; // positive yaw stick means clockwise rotation in FLU
+		ratesTarget.z = controls[RC_CHANNEL_YAW] * YAWRATE_MAX;

 	} 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);

@@ -123,8 +123,7 @@ void controlAttitude() {
 	ratesTarget.y = pitchPID.update(error.y, dt);

 	if (yawMode == YAW) {
-		float yawError = wrapAngle(attitudeTarget.getYaw() - attitude.getYaw());
-		ratesTarget.z = yawPID.update(yawError, dt);
+		ratesTarget.z = yawPID.update(wrapAngle(attitudeTarget.getYaw() - attitude.getYaw()), dt);
 	}
 }

@@ -150,10 +149,10 @@ void controlTorque() {
 		return;
 	}

-	motors[MOTOR_FRONT_LEFT] = 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_RIGHT] = 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_REAR_LEFT] = 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);
--- a/flix/estimate.ino
+++ b/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));
 }
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -8,9 +8,9 @@

 #define SERIAL_BAUDRATE 115200

-#define WIFI_ENABLED 1
+#define WIFI_ENABLED 0

-#define RC_CHANNELS 16
+#define RC_CHANNELS 6
 #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[RC_CHANNELS]; // raw rc channels
+int16_t channels[16]; // 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
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -2,9 +2,6 @@
 // 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>
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -38,9 +38,8 @@ 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, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat);
+			time, attitude.w, attitude.x, attitude.y, attitude.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,
@@ -98,9 +97,4 @@ 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
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -1,50 +1,69 @@
 // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
 // Repository: https://github.com/okalachev/flix

-// Motors output control using MOSFETs
-// In case of using ESC, use this version of the code: https://gist.github.com/okalachev/8871d3a94b6b6c0a298f41a4edd34c61.
+// Motors output control
 // Motor: 8520 3.7V
+// ESC: KINGDUO Micro Mini 4A 1S Brushed Esc 3.6-6V

-#define MOTOR_0_PIN 12 // rear left
-#define MOTOR_1_PIN 13 // rear right
-#define MOTOR_2_PIN 14 // front right
-#define MOTOR_3_PIN 15 // front left
-
+#define MOTOR_0_PIN 12
+#define MOTOR_1_PIN 13
+#define MOTOR_2_PIN 14
+#define MOTOR_3_PIN 15
 #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 pins
-	ledcAttach(MOTOR_0_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcAttach(MOTOR_1_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcAttach(MOTOR_2_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
-	ledcAttach(MOTOR_3_PIN, PWM_FREQUENCY, PWM_RESOLUTION);
+	// configure PWM channels
+	ledcSetup(0, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcSetup(1, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcSetup(2, PWM_FREQUENCY, PWM_RESOLUTION);
+	ledcSetup(3, 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");
 }

-uint8_t signalToDutyCycle(float control) {
-	float duty = mapff(control, 0, 1, 0, (1 << PWM_RESOLUTION) - 1);
-	return round(constrain(duty, 0, (1 << PWM_RESOLUTION) - 1));
+uint16_t getPWM(float val, int n) {
+	if (val == 0) {
+		return PWM_NEUTRAL;
+	} 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(MOTOR_0_PIN, signalToDutyCycle(motors[0]));
-	ledcWrite(MOTOR_1_PIN, signalToDutyCycle(motors[1]));
-	ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2]));
-	ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3]));
+	ledcWrite(0, pwmToDutyCycle(getPWM(motors[0], 0)));
+	ledcWrite(1, pwmToDutyCycle(getPWM(motors[1], 1)));
+	ledcWrite(2, pwmToDutyCycle(getPWM(motors[2], 2)));
+	ledcWrite(3, pwmToDutyCycle(getPWM(motors[3], 3)));
 }

-void fullMotorTest(int n) {
+void fullMotorTest(int n, bool reverse) {
 	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));
+	for (int pwm = PWM_NEUTRAL; pwm <= 2300 && pwm >= 700; pwm += reverse ? -100 : 100) {
+		printf("Motor %d: %d\n", n, pwm);
+		ledcWrite(n, pwmToDutyCycle(pwm));
 		delay(3000);
 	}
-	printf("Motor %d: %f\n", n, 0);
-	ledcWrite(n, signalToDutyCycle(0));
+	printf("Motor %d: %d\n", n, PWM_NEUTRAL);
+	ledcWrite(n, pwmToDutyCycle(PWM_NEUTRAL));
 }
--- a/flix/quaternion.h
+++ b/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);
+		float sarg = -2 * (x * z - w * y) / (sqx + sqy + sqz + sqw); /* normalization added from urdfom_headers */
 		if (sarg <= -0.99999) {
 			euler.x = 0;
 			euler.y = -0.5 * PI;
--- a/flix/rc.ino
+++ b/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, 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};
+int channelNeutral[] = {995, 883, 200, 972, 512, 512};
+int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};

-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);

 void setupRC() {
 	Serial.println("Setup RC");
--- a/gazebo/Arduino.h
+++ b/gazebo/Arduino.h
@@ -7,7 +7,6 @@

 #include <cmath>
 #include <string>
-#include <stdint.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <sys/poll.h>
@@ -117,7 +116,7 @@ public:
 	int read() {
 		if (available()) {
 			char c;
-			size_t res = ::read(STDIN_FILENO, &c, 1); // use raw read to avoid C++ buffering
+			::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;
 		}
@@ -134,8 +133,7 @@ void delay(uint32_t ms) {
 }

 unsigned long __micros;
-unsigned long __resetTime = 0;

 unsigned long micros() {
-	return __micros + __resetTime; // keep the time monotonic
+	return __micros;
 }
--- a/gazebo/CMakeLists.txt
+++ b/gazebo/CMakeLists.txt
@@ -15,7 +15,6 @@ 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)
--- a/gazebo/SBUS.h
+++ b/gazebo/SBUS.h
@@ -12,7 +12,6 @@ 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() {
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -10,7 +10,7 @@
 #include "Arduino.h"
 #include "wifi.h"

-#define RC_CHANNELS 16
+#define RC_CHANNELS 6

 #define MOTOR_REAR_LEFT 0
 #define MOTOR_FRONT_LEFT 3
@@ -49,12 +49,11 @@ 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) { printf("Skip full motor test\n"); };
+void fullMotorTest(int n, bool reverse) { printf("Skip full motor test\n"); };
 void sendMotors() {};
 void printIMUCal() { printf("cal: N/A\n"); };
--- a/gazebo/flix.world
+++ b/gazebo/flix.world
@@ -9,7 +9,7 @@
 		</scene>
 		<gui>
 			<camera name="user_camera">
-				<pose>-2.3 0 1.1 0 0.3 0</pose>
+				<pose>-2 -0.3 1.5 0 0.5 0.1</pose>
 			</camera>
 		</gui>
 		<physics type="ode">
@@ -23,7 +23,7 @@
 		</include>
 		<include>
 			<uri>model://flix</uri>
-			<pose>0 0 0.3 0 0 0</pose>
+			<pose>0 0 0.2 0 0 0</pose>
 		</include>
 	</world>
 </sdf>
--- a/gazebo/models/flix/flix0.dae
+++ b/gazebo/models/flix/flix0.dae
--- a/gazebo/models/flix/flix.sdf
+++ b/gazebo/models/flix/flix.sdf
@@ -13,10 +13,15 @@
 			<collision name="collision">
 				<geometry>
 					<box>
-						<size>0.095 0.095 0.0276</size>
+						<size>0.125711 0.125711 0.022</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>
@@ -58,37 +63,6 @@
 					</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>
--- a/gazebo/models/flix/flix.stl
+++ b/gazebo/models/flix/flix.stl
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -17,6 +17,7 @@

 #include "Arduino.h"
 #include "flix.h"
+#include "util.h"
 #include "util.ino"
 #include "rc.ino"
 #include "time.ino"
@@ -46,8 +47,8 @@ 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(std::bind(&ModelFlix::OnUpdate, this));
-		this->resetConnection = event::Events::ConnectWorldReset(std::bind(&ModelFlix::OnReset, this));
+		this->updateConnection = event::Events::ConnectWorldUpdateBegin(bind(&ModelFlix::OnUpdate, this));
+		this->resetConnection = event::Events::ConnectWorldReset(bind(&ModelFlix::OnReset, this));
 		initNode();
 		Serial.begin(0);
 		gzmsg << "Flix plugin loaded" << endl;
@@ -55,7 +56,6 @@ 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 virtual imu
-		gyro = Vector(imu->AngularVelocity().X(), imu->AngularVelocity().Y(), imu->AngularVelocity().Z());
-		acc = this->accFilter.update(Vector(imu->LinearAcceleration().X(), imu->LinearAcceleration().Y(), imu->LinearAcceleration().Z()));
+		// read imu
+		gyro = flu2frd(imu->AngularVelocity());
+		acc = this->accFilter.update(flu2frd(imu->LinearAcceleration()));

 		// 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();
--- a/gazebo/util.h
+++ b/gazebo/util.h
@@ -0,0 +1,14 @@
+#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());
+}
--- a/gazebo/wifi.h
+++ b/gazebo/wifi.h
@@ -18,7 +18,7 @@ int wifiSocket;

 void setupWiFi() {
 	wifiSocket = socket(AF_INET, SOCK_DGRAM, 0);
-	sockaddr_in addr; // local address
+	sockaddr_in addr;
 	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; // remote address
+	sockaddr_in addr;
 	addr.sin_family = AF_INET;
 	addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
 	addr.sin_port = htons(WIFI_UDP_PORT_REMOTE);
--- a/tools/check_c_cpp_properties.py
+++ b/tools/check_c_cpp_properties.py
@@ -1,61 +0,0 @@
-#!/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'])
--- a/tools/csv_to_mcap.py
+++ b/tools/csv_to_mcap.py
@@ -1,46 +0,0 @@
-#!/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()
--- a/tools/csv_to_ulog/CMakeLists.txt
+++ b/tools/csv_to_ulog/CMakeLists.txt
@@ -1,23 +0,0 @@
-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)
--- a/tools/csv_to_ulog/README.md
+++ b/tools/csv_to_ulog/README.md
@@ -1,20 +0,0 @@
-# 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.
--- a/tools/csv_to_ulog/csv_to_ulog.cpp
+++ b/tools/csv_to_ulog/csv_to_ulog.cpp
@@ -1,72 +0,0 @@
-// 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);
-	}
-}
--- a/tools/requirements.txt
+++ b/tools/requirements.txt
@@ -1,3 +1,2 @@
 docopt
 matplotlib
-mcap
Author	SHA1	Message	Date
Oleg Kalachev	d0eb2dd9ba	Merge branch 'master' into run-sim	2024-05-24 22:35:36 +03:00
Oleg Kalachev	44ed3cf42c	Merge branch 'master' into run-sim	2024-01-31 17:23:07 +03:00
Oleg Kalachev	aa02e6344b	Test simulator run in CI	2024-01-25 23:53:08 +03:00