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Commit Graph

  • e1ff92c5f0 Website Oleg Kalachev 2024-03-04 03:18:04 +03:00
  • aeec8e34eb Add auto-center throttle setting notice to QGC usage documentation Oleg Kalachev 2024-03-03 21:08:43 +03:00
  • 34a81536c2 Fix reverse motors pwm Oleg Kalachev 2024-03-02 15:37:38 +03:00
  • 1c9b10a674 Use default recommended chip-select pin (GPIO5) for SPI Update link to the schematics #3 to the most recent version Oleg Kalachev 2024-02-24 15:28:41 +03:00
  • ab2f99ab59 Simplify making user modes for control, add USER mode Oleg Kalachev 2024-02-22 03:09:12 +03:00
  • 5b6ef9c50e Add warning about shaft diameter for the motors Oleg Kalachev 2024-02-21 18:24:35 +03:00
  • 5ec6b5e665 Make fromEulerZYX accept Vector instead of x, y, z Oleg Kalachev 2024-02-20 04:51:59 +03:00
  • 85182ac2b8 Use more correct implementation of toEulerZYX fixing some yaw issues We actually need to use Tait–Bryan Z-Y-X angles, not classic Euler's Oleg Kalachev 2024-02-20 04:47:13 +03:00
  • 455729fdb4 Improve log download: remove empty records, sort by timestamp To make Plotjuggler not to warn about unsorted records everytime Oleg Kalachev 2024-02-18 01:23:33 +03:00
  • 4eec63adfa Add info about input group for joystick usage in building instructions Oleg Kalachev 2024-02-17 22:17:27 +03:00
  • e0db3bee38 Read mode stick using axis read in simulation Oleg Kalachev 2024-02-16 01:13:32 +03:00
  • bf803cf345 Display MAVLink remote port in simulator Oleg Kalachev 2024-02-10 14:12:09 +03:00
  • 33319db1fa Make rates LPF cut-off frequency equal to 40 Hz Oleg Kalachev 2024-02-07 10:49:31 +03:00
  • ba6e63b50b Correctly set output parameters of simulated SBUS::read, minor name fix Oleg Kalachev 2024-02-06 21:02:20 +03:00
  • 410fccf015 Fix vector, quaternion, pid and lpf libraries curly braces code style Oleg Kalachev 2024-02-06 13:50:56 +03:00
  • 31d382dd86 Simplify motors pwm calculation using unified value for all motors Oleg Kalachev 2024-02-06 10:49:48 +03:00
  • 0661aecccf Remove unneeded INVERT_SERIAL define Oleg Kalachev 2024-02-04 14:42:57 +03:00
  • 44ed3cf42c Merge branch 'master' into run-sim Oleg Kalachev 2024-01-31 17:23:07 +03:00
  • 0f83e8ed80 Add info on how to control the simulated drone to build instructions Oleg Kalachev 2024-01-31 17:20:59 +03:00
  • f718af7f0e Support MAVLink usage in simulation Oleg Kalachev 2024-01-31 12:10:18 +03:00
  • 4850b95029 Add a readme to gazebo directory Oleg Kalachev 2024-01-31 12:07:37 +03:00
  • 2694f68b87 Add yaw dead zone in mavlink control Oleg Kalachev 2024-01-31 12:05:49 +03:00
  • 033e74a375 Minor code cleanups Oleg Kalachev 2024-01-31 12:05:25 +03:00
  • a24f039f1d Fix RC_CHANNELS_SCALED inactive channel values They should be INT16_MAX not UINT16_MAX Oleg Kalachev 2024-01-31 12:04:44 +03:00
  • 6b52ad562b Minor const clarification Oleg Kalachev 2024-01-31 12:00:23 +03:00
  • 69cfc9e5fa Utilize internal ESP32 UART invertor for SBUS Oleg Kalachev 2024-01-26 13:46:13 +03:00
  • 1b54b3fa25 Enable macOS build https://github.com/osrf/homebrew-simulation/pull/2526#issuecomment-1904384070 Oleg Kalachev 2024-01-26 13:16:17 +03:00
  • aa02e6344b Test simulator run in CI Oleg Kalachev 2024-01-25 23:53:08 +03:00
  • f794da916d Disable macos build for now as it takes too long to execute Oleg Kalachev 2024-01-19 05:29:52 +03:00
  • ed6d09061b Rename RC_CHANNEL_AUX to RC_CHANNEL_ARMED Oleg Kalachev 2024-01-19 05:19:41 +03:00
  • 26a028ff66 Use only STAB mode by default Oleg Kalachev 2024-01-19 05:16:44 +03:00
  • 2d365dcffe Minor fixes Oleg Kalachev 2024-01-19 05:14:12 +03:00
  • c22961e5ff Don't calibrate gyro on start since MPU9250 library does that on begin Oleg Kalachev 2024-01-19 05:05:49 +03:00
  • 9ad718cb85 Fix macOS build Oleg Kalachev 2024-01-19 05:04:40 +03:00
  • 172f6b173a MAVLink input support (control using mobile phone) Oleg Kalachev 2024-01-17 15:39:40 +03:00
  • 8e629e3eea Minor cleanups Oleg Kalachev 2024-01-17 15:20:38 +03:00
  • 482bb8ed71 Disable ESP32 reset on low voltage Oleg Kalachev 2024-01-17 15:18:11 +03:00
  • 4ec6ff3f37 Update main schematics diagram Oleg Kalachev 2024-01-14 17:07:49 +03:00
  • 9ed41e50a1 Fix actuator_output mavlink message generation Oleg Kalachev 2024-01-13 22:53:30 +03:00
  • 344835cba8 Add firmware overview article Oleg Kalachev 2024-01-13 14:08:02 +03:00
  • 654badd097 Fix macos simulator build Oleg Kalachev 2024-01-12 18:34:05 +03:00
  • a8cd72e654 Add dataflow diagram to images Oleg Kalachev 2024-01-12 00:44:01 +03:00
  • f4aaf0f4f3 Use radians macro, minor change Oleg Kalachev 2024-01-12 00:43:52 +03:00
  • 1ed05a94dd Minor code cleanups Oleg Kalachev 2024-01-08 22:33:11 +03:00
  • e1e747969b Add .gitattributes so linguist would detect languages correctly Oleg Kalachev 2024-01-06 14:41:24 +03:00
  • 48ea797a47 Make simulator read RC through real drone code Oleg Kalachev 2024-01-06 00:09:29 +03:00
  • 476f24f774 Clarify rates control code Oleg Kalachev 2024-01-06 00:08:30 +03:00
  • 7a62229125 Minor cleanups Oleg Kalachev 2024-01-05 15:11:07 +03:00
  • e7864b1e55 #2 Use official MPU9250 library 1.0.2 The release was fixed https://github.com/bolderflight/invensense-imu/issues/123 Oleg Kalachev 2024-01-05 14:25:19 +03:00
  • f72745a2e7 Add a link to full circuit diagram variant to readme #3 Oleg Kalachev 2024-01-04 23:32:17 +03:00
  • 317ecc95cc Update libraries index before installing libraries Oleg Kalachev 2024-01-04 19:35:55 +03:00
  • d3700d5784 Add note to readme that SBUS inverter is actually not needed Oleg Kalachev 2024-01-04 18:14:13 +03:00
  • d84ed99996 Loose port detection wildcard to catch both CP2102 and CP2104 USB-UART bridges Oleg Kalachev 2024-01-04 15:49:43 +03:00
  • 82f3ab563a #1 - use MAVLink Arduino library Oleg Kalachev 2024-01-04 12:57:15 +03:00
  • 2fbebe102e Define ESP32 Dev Module LED pin Oleg Kalachev 2024-01-03 16:09:43 +03:00
  • fe7c06666f Enchase building instructions for Arduino IDE Oleg Kalachev 2024-01-03 15:36:16 +03:00
  • f520b57abe Implement RC calibration, common for the real drone and the simulation Oleg Kalachev 2024-01-02 11:54:09 +03:00
  • 78f3f6e3b3 More simulation code minor updates Oleg Kalachev 2023-12-29 19:10:37 +03:00
  • 46ba00fca7 Add forgotten file Oleg Kalachev 2023-12-29 18:56:32 +03:00
  • d2296fea76 Change C++ code style: put curly brace on the same line Oleg Kalachev 2023-12-29 18:56:25 +03:00
  • 645b148564 Cleanup simulation code, remove debug model showing current attitude estimation Oleg Kalachev 2023-12-29 18:45:19 +03:00
  • 3207fdb43c Minor changes Oleg Kalachev 2023-12-29 18:43:34 +03:00
  • c58a16e4df More clear file name for simulation plugin, cleanup in CMakeLists Oleg Kalachev 2023-12-29 13:33:03 +03:00
  • adeea474c6 Some updates to build instructions Oleg Kalachev 2023-12-28 13:25:51 +03:00
  • fc006d43e2 Fix cmake warning Oleg Kalachev 2023-12-22 02:35:28 +03:00
  • 776967038c Remove unused make target Oleg Kalachev 2023-12-21 00:43:02 +03:00
  • 93bfc5d258 Fix macos build Oleg Kalachev 2023-12-20 12:30:53 +03:00
  • d73cfe0c59 Update readme Oleg Kalachev 2023-12-20 09:58:25 +03:00
  • 343935f98c Minor fixes Oleg Kalachev 2023-12-19 22:00:30 +03:00
  • 886e592a20 Enable building simulator for macOS on push Oleg Kalachev 2023-12-19 13:21:25 +03:00
  • b278d7cfc1 Add introduction video to readme v0.1 Oleg Kalachev 2023-12-19 13:12:05 +03:00
  • 189eac95ef Enable gyro calibration on the start Oleg Kalachev 2023-12-19 11:36:27 +03:00
  • fde9c1cf36 Minor changes and cleanups Oleg Kalachev 2023-12-19 05:25:57 +03:00
  • 77dd02dbeb Make components table smaller, fixes Oleg Kalachev 2023-12-19 05:13:15 +03:00
  • c3cdb58070 Remove non-existent file include Oleg Kalachev 2023-12-19 05:11:22 +03:00
  • ab43ebf7b6 Update readme, add building instructions Oleg Kalachev 2023-12-19 05:09:48 +03:00
  • a174d5cd7d Headers cleanups Oleg Kalachev 2023-12-19 05:06:19 +03:00
  • d3e7291197 Guard for angleBetweenVectors function to ensure it doesn't return NaN Oleg Kalachev 2023-12-19 04:58:20 +03:00
  • fcd695fdd7 Apply LPF to Gazebo's accel data to remove collision detector glitches, minor cleanups Oleg Kalachev 2023-12-19 04:49:36 +03:00
  • 57e83040b8 Apply accelerometer in estimation only when we're landed and stable Accelerometer gives only motors specific force in flight, which makes it useless to determine the current vertial Oleg Kalachev 2023-12-19 04:46:59 +03:00
  • 415f0e9ad5 Use model name as topics namespace in simulation Oleg Kalachev 2023-12-15 10:03:07 +03:00
  • a9bcec2fa5 Main sdf cleanups, minor fix Oleg Kalachev 2023-12-15 09:43:54 +03:00
  • f118bca6d1 Correctly fill armed field in heartbeat mavlink message Oleg Kalachev 2023-12-15 09:35:54 +03:00
  • 32d69cb4a0 Main world file fixes and cleanups, temporarily remove the table Oleg Kalachev 2023-12-15 09:35:09 +03:00
  • d3e715ae53 Quaternion library cleanups and code style Oleg Kalachev 2023-12-13 08:42:03 +03:00
  • 997af183f0 Implement lacking vector division operator Oleg Kalachev 2023-12-13 08:38:26 +03:00
  • 2c21114540 Refactor control, remake controlManual to controlTorque Oleg Kalachev 2023-12-13 08:33:35 +03:00
  • 4fcf2109ce Simplify code using angularRatesBetweenVectors Oleg Kalachev 2023-12-13 08:25:11 +03:00
  • 24b62e5145 Move controlManual down Oleg Kalachev 2023-12-13 08:06:15 +03:00
  • f37015a97f Temporary remove controlManual to paste it bellow Oleg Kalachev 2023-12-13 08:05:44 +03:00
  • cb27e0f61f Cleanups Oleg Kalachev 2023-12-13 07:59:08 +03:00
  • 46579ce8a4 Better code for yaw target Oleg Kalachev 2023-12-13 07:49:57 +03:00
  • 860db237b7 Add reset command to cli Oleg Kalachev 2023-12-13 07:48:23 +03:00
  • 2a06155cbe Fix timestamp in mavlink, add imu message, cleanup Oleg Kalachev 2023-12-10 05:51:10 +03:00
  • 2df8c608d5 Fix mavlink module Oleg Kalachev 2023-12-10 03:41:01 +03:00
  • 02aac609ab Fix attitude error calculation in sim Oleg Kalachev 2023-12-04 20:22:32 +03:00
  • e360110430 Use simulated IMU noise values from MPU9250 datasheet Oleg Kalachev 2023-12-04 00:29:21 +03:00
  • 89bf8a7f14 Cleanup Oleg Kalachev 2023-12-04 00:28:02 +03:00
  • c77c25ef4e dt can be negative on simulator reset Oleg Kalachev 2023-12-04 00:27:55 +03:00
  • 94b483cda6 Transfer fullMotorTest function to motors.ino Oleg Kalachev 2023-12-03 20:43:55 +03:00