mirror of
https://github.com/okalachev/flix.git
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110 lines
3.2 KiB
Markdown
110 lines
3.2 KiB
Markdown
# Building and running
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To build the firmware or the simulator, you need to clone the repository using git:
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```bash
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git clone https://github.com/okalachev/flix.git
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cd flix
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```
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## Simulation
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Dependencies are [Gazebo Classic simulator](https://classic.gazebosim.org) and [SDL2](https://www.libsdl.org) library.
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### Ubuntu
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1. Install Gazebo 11:
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```bash
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curl -sSL http://get.gazebosim.org | sh
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```
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Set up your Gazebo environment variables:
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```bash
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echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
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source ~/.bashrc
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```
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2. Install SDL2:
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```bash
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sudo apt-get update && sudo apt-get install build-essential libsdl2-dev
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```
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3. Run the simulation:
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```bash
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make simulator
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```
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### macOS
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1. Install Homebrew package manager, if you don't have it installed:
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```bash
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/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
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```
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2. Install Gazebo 11 and SDL2:
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```bash
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brew tap osrf/simulation
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brew install gazebo11
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brew install sdl2
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```
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3. Run the simulation:
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```bash
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make simulator
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```
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## Firmware
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### Arduino IDE (Windows, Linux, macOS)
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1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
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2. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
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3. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library) (**versions are significant**):
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* `Bolder Flight Systems SBUS`, version 1.0.1.
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* `Bolder Flight Systems MPU9250`, version 1.0.2.
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* `MAVLink`, version 2.0.1.
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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).
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5. Open the downloaded Arduino sketch `flix/flix.ino` in Arduino IDE.
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6. [Build and upload](https://docs.arduino.cc/software/ide-v2/tutorials/getting-started/ide-v2-uploading-a-sketch) the firmware using Arduino IDE.
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### Command line (Windows, Linux, macOS)
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1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
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2. Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).
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3. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
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```bash
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make
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```
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You can flash the firmware to the board using command:
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```bash
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make upload
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```
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You can also compile the firmware, upload it and start serial port monitoring using command:
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```bash
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make upload monitor
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```
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See other available Make commands in the [Makefile](../Makefile).
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### Firmware code structure
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See [firmware overview](firmware.md) for more details.
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## Setup
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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`).
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On the real drone, you also need to calibrate the accelerometer and the gyroscope. Use `ca` and `cg` commands for that. Copy calibration results to the source code (`flix/imu.ino`).
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