Building and running

To build the firmware or the simulator, you need to clone the repository using git:

git clone https://github.com/okalachev/flix.git
cd flix

Simulation

Dependencies are Gazebo Classic simulator and SDL2 library.

Ubuntu

Install Gazebo 11:

curl -sSL http://get.gazebosim.org | sh

Set up your Gazebo environment variables:

echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
source ~/.bashrc

Install SDL2:

sudo apt-get update && sudo apt-get install build-essential libsdl2-dev

Run the simulation:
```
make simulator
```

macOS

Install Homebrew package manager, if you don't have it installed:

/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

Install Gazebo 11 and SDL2:

brew tap osrf/simulation
brew install gazebo11
brew install sdl2

Run the simulation:
```
make simulator
```

Firmware

Arduino IDE (Windows, Linux, macOS)

Install Arduino IDE.
Install ESP32 core using Boards Manager.
Build and upload the firmware using Arduino IDE.

Command line (Windows, Linux, macOS)

Install Arduino CLI.
Windows users might need to install USB to UART bridge driver from Silicon Labs.
Compile the firmware using make. Arduino dependencies will be installed automatically:
```
make
```
You can flash the firmware to the board using command:
```
make upload
```
You can also compile the firmware, upload it and start serial port monitoring using command:
```
make upload monitor
```

See other available Make commands in the Makefile.

Setup

Before flight in simulation and on the real drone, you need to calibrate your remote control. Use drone's command line interface (make monitor on the real drone) and type cr command. Copy calibration results to the source code (flix/rc.ino and/or gazebo/joystick.h).

On the real drone, you also need to calibrate the accelerometer and the gyroscope. Use ca and cg commands for that. Copy calibration results to the source code (flix/imu.ino).

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