Drone firmware - Revision history

Jca at 14:40, 10 January 2022

2022-01-10T14:40:57Z

← Older revision		Revision as of 16:40, 10 January 2022
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	== Control and data messages ==		== Control and data messages ==

	~~The Raspberry pi software is in the "mission" directory.~~

	All messages are ASCII text (7 bit) and line-oriented. Lines must be terminated with "new-line", i.e. the '\n' character ('\r' is ignored)		All messages are ASCII text (7 bit) and line-oriented. Lines must be terminated with "new-line", i.e. the '\n' character ('\r' is ignored)

	=== To and from onboard Raspberry pi ===		=== To and from onboard Raspberry pi ===

			On the Raspberry Pi there is a "mission" application, that talks to the firmware and provides interface to other sensors. This software also opens a socket connection (port 24001) that can talk to the GUI.

	==== Opti track messages drone--GUI ====		==== Opti track messages drone--GUI ====

			There is a Python based GUI for the drone_control, it is placed in the "drone_gui" directory.

	===== Rigid body info =====		===== Rigid body info =====

Jca: /* Control and data messages */

2022-01-10T14:36:00Z

Control and data messages

← Older revision		Revision as of 16:36, 10 January 2022
Line 81:		Line 81:

	== Control and data messages ==		== Control and data messages ==

			The Raspberry pi software is in the "mission" directory.

	All messages are ASCII text (7 bit) and line-oriented. Lines must be terminated with "new-line", i.e. the '\n' character ('\r' is ignored)		All messages are ASCII text (7 bit) and line-oriented. Lines must be terminated with "new-line", i.e. the '\n' character ('\r' is ignored)

Jca: /* Drone control firmware */

2022-01-10T13:28:10Z

Drone control firmware

← Older revision		Revision as of 15:28, 10 January 2022
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	If you have other repository tools, then just use the URL.		If you have other repository tools, then just use the URL.
			The checkout create a 'drone_ctrl/trunk' directory, that has the most recent version.

	The firmware is built on Arduino (Teensyduino) libraries for all low-level handling of interfaces.		The firmware is built on Arduino (Teensyduino) libraries for all low-level handling of interfaces.

Jca: /* Drone control firmware */

2022-01-10T13:26:18Z

Drone control firmware

← Older revision		Revision as of 15:26, 10 January 2022
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	The firmware is in the "drone_ctrl" directory.		The firmware is in the "drone_ctrl" directory.

	To compile the source for a Teensy 3.5 or 3.6 the Teensyduino needs to be installed ~~first~~.		To compile the source for a Teensy 3.5 or 3.6 the Teensyduino needs to be installed after the Arduino installation.

	Install Teensyduino, see https://www.pjrc.com/teensy/td_download.html .		Install Teensyduino, see https://www.pjrc.com/teensy/td_download.html .

Jca: /* Drone control firmware */

2022-01-10T13:25:13Z

Drone control firmware

← Older revision		Revision as of 15:25, 10 January 2022
Line 20:		Line 20:

	==Drone control firmware==		==Drone control firmware==

			Download a copy from the SVN (subversion) repository (from a command line)

			svn checkout svn://repos.gbar.dtu.dk/jcan/mobotware/drone_ctrl

			If you have other repository tools, then just use the URL.

	The firmware is built on Arduino (Teensyduino) libraries for all low-level handling of interfaces.		The firmware is built on Arduino (Teensyduino) libraries for all low-level handling of interfaces.

Jca: /* Functional overview */

2021-08-19T11:27:48Z

Functional overview

← Older revision		Revision as of 13:27, 19 August 2021
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	== Functional overview ==		== Functional overview ==

	[[File:data-flow-block.png \| ~~750px~~]]		[[File:data-flow-block.png \| 850px]]

	Figure. Overall data flow for the drone flight controller. Most blocks also refer to tabs in the GUI (drone_gui).		Figure. Overall data flow for the drone flight controller. Most blocks also refer to tabs in the GUI (drone_gui).

Jca: /* Control messages */

2021-08-19T10:55:56Z

Control messages

← Older revision		Revision as of 12:55, 19 August 2021
Line 73:		Line 73:
	make upload		make upload

	== Control messages ==		== Control and data messages ==

	All messages are ASCII text (7 bit) and line-oriented. Lines must be terminated with "new-line", i.e. the '\n' character ('\r' is ignored)		All messages are ASCII text (7 bit) and line-oriented. Lines must be terminated with "new-line", i.e. the '\n' character ('\r' is ignored)

	=== ~~Opti track messages drone--GUI~~ ===		=== To and from onboard Raspberry pi ===

	==== Rigid body info ====		==== Opti track messages drone--GUI ====

			===== Rigid body info =====
	* To drone (request for pose data)		* To drone (request for pose data)
	sub rigid # get a list of all rigid bodies streamed from Optitrack		sub rigid # get a list of all rigid bodies streamed from Optitrack
Line 95:		Line 97:
	E is the estimated error		E is the estimated error

	==== Optitrack status ====		===== Optitrack status =====
	* to drone (optitrack status)		* to drone (optitrack status)
	sub opti # get status (once)		sub opti # get status (once)

Jca at 10:18, 19 August 2021

2021-08-19T10:18:56Z

← Older revision		Revision as of 12:18, 19 August 2021
Line 72:		Line 72:
	make		make
	make upload		make upload

			== Control messages ==

			All messages are ASCII text (7 bit) and line-oriented. Lines must be terminated with "new-line", i.e. the '\n' character ('\r' is ignored)

			=== Opti track messages drone--GUI ===

			==== Rigid body info ====
			* To drone (request for pose data)
			sub rigid # get a list of all rigid bodies streamed from Optitrack
			sub rigid N # get the pose (once) for the rigid body with ID = N
			sub rigid N A # get the pose for ID=N repeated for each update A times. If A=-1 then data is sent continuously
			sub rigid N A B # as above, but at maximum at this interval, B in milliseconds
			* reply from drone
			optip 123456789.123 F Ft ID IDs V x y z q r s t E
			where 123456789.123 is Linux time on Raspberry in decimal seconds.
			F is frame number from Optitrack, Ft is frame time from Optitrack (in decimal seconds),
			ID is rigid body ID, IDs is number of streamed rigid bodies,
			V is 1 is the pose is valid (valid poses are sent only, except for the list),
			x,y,z are position in meters in the Optitrack frame,
			q,r,s,t are quaternions for the pose.
			E is the estimated error

			==== Optitrack status ====
			* to drone (optitrack status)
			sub opti # get status (once)
			sub rigid A # get repeated for each update received A times. If A=-1 then data is sent continuously
			sub rigid A B # as above, but at maximum at this interval, B in milliseconds
			* reply
			optis K N # K=1 if Optitrack is connected, N is number of rigid body streamed (valid or not)

Jca: /* Drone control firmware */

2021-06-04T15:32:59Z

Drone control firmware

← Older revision		Revision as of 17:32, 4 June 2021
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	==Drone control firmware==		==Drone control firmware==

	~~There are two versions of the drone~~ firmware~~, one for the motor test~~ (~~mostly performance of a single motor~~) ~~without the need~~ of ~~the prop-sheld and a full version to be used on the flying drone.~~		The firmware is built on Arduino (Teensyduino) libraries for all low-level handling of interfaces.

	~~To get the source code - see section "software and files" below~~.

	===Arduino version ===		===Arduino version ===
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	Arduino version 1.8.13 (specifically the interrupt based ADC library for Teensy) requires at least GCC version 10 to compile.		Arduino version 1.8.13 (specifically the interrupt based ADC library for Teensy) requires at least GCC version 10 to compile.

	But changing a few 'constexpr' to 'inline' makes it compile on GCC version 9.3 and work - maybe with a slightly larger code.		But changing a few 'constexpr' to 'inline' in the ADC library makes it compile on GCC version 9.3 and work - maybe with a slightly larger code.

	=== Drone control firmware ===		=== Drone control firmware ===
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	The firmware is in the "drone_ctrl" directory.		The firmware is in the "drone_ctrl" directory.

	To compile the source for a Teensy 3.5 or 3.6 the ~~Teensiduino~~ needs to be installed first.		To compile the source for a Teensy 3.5 or 3.6 the Teensyduino needs to be installed first.

	Install ~~Teensiduino~~, see https://www.pjrc.com/teensy/td_download.html .		Install Teensyduino, see https://www.pjrc.com/teensy/td_download.html .
	Start with installing the most recent supported version of Arduino, then overlay this by installing the Teensiduino.		Start with installing the most recent supported version of Arduino, then overlay this by installing the Teensiduino.

Jca: /* Functional overview */

2021-06-04T15:27:41Z

Functional overview

← Older revision		Revision as of 17:27, 4 June 2021
Line 5:		Line 5:
	[[File:data-flow-block.png \| 750px]]		[[File:data-flow-block.png \| 750px]]

	Figure. Overall data flow for drone flight-controller. Most blocks also refer to tabs in the GUI (drone_gui).		Figure. Overall data flow for the drone flight controller. Most blocks also refer to tabs in the GUI (drone_gui).

	[[File:block-functions.png \| 500px]]		[[File:block-functions.png \| 500px]]
Line 11:		Line 11:
	Figure. The main software functions. Orange blocks are sensor and communication io. Green if the primary measurement and reference (set-point) data (Roll, Pitch, Yaw, Height and possibly lateral velocity. Pink blocks are other software functions. Gray is for configuration and calibration. Yellow blocks are PID control. Diagnosis is mostly battery voltage, but with the capability of measuring temperature and (with internal and external sensor) and current with external sensors.		Figure. The main software functions. Orange blocks are sensor and communication io. Green if the primary measurement and reference (set-point) data (Roll, Pitch, Yaw, Height and possibly lateral velocity. Pink blocks are other software functions. Gray is for configuration and calibration. Yellow blocks are PID control. Diagnosis is mostly battery voltage, but with the capability of measuring temperature and (with internal and external sensor) and current with external sensors.

	The pose holds 4 values (roll, pitch, yaw and height). The roll, pitch and yaw ~~control has cascaded controllers, angular velocity (measured~~ by the gyro directly) and ~~roll pitch and yaw position (~~as ~~estimated~~ by the ~~Madgwick filter)~~.		The pose holds 4 values (roll, pitch, yaw and height). The roll, pitch and yaw position is estimated by the Madgwick filter. The raw gyro values are used as velocity measurement directly and as the D-term by the angle controllers.

	Calibration of the gyro and accelerometer is built in. Calibration of the magnetometer is using an external tool (saving the calibration result directly in the ~~on-board~~ flash for the Madgwick filter).		Calibration of the gyro and accelerometer is built in. Calibration of the magnetometer is using an external tool (saving the calibration result directly in the onboard flash for the Madgwick filter).

	[[File:block-control.png \| 650px]]		[[File:block-control.png \| 650px]]