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Helicopter:main

21 Commits
21dbd883f7 ... main

Author SHA1 Message Date
GogaCoder
a131cfdd9c refactor: #pragma once 2024-10-29 09:29:11 +07:00
GogaCoder
2648fc3598 feat: pitch PID regulator, MPU and LPS modified 2024-10-29 09:17:33 +07:00
gogacoder
0cb666c860 Error fixes and base flight logic 2024-04-03 20:38:44 +07:00
gogacoder
47f91eeae5 Brushed motors drivers were implemented 2024-03-19 19:10:52 +07:00
gogacoder
b58379ac75 More correct algorithm for calculating battery percent 2024-03-19 19:10:19 +07:00
gogacoder
a6849cd900 RX buffer reader was simplified 2024-03-13 22:38:55 +07:00
gogacoder
839dbee16e Fast flight preparing and reboot on failed initialization 2024-03-13 22:37:48 +07:00
gogacoder
e27b3ca794 RangingSensor and bug fixed 
Implemented RangingSensor driver and choice between barometer and RangingSensor. Reduced I/O load.
 2024-03-11 22:47:32 +07:00
gogacoder
007a3fd16f Bug fix 2024-03-09 09:38:21 +07:00
gogacoder
4a85827150 PID controllers hierarchy revision 2024-03-08 23:10:55 +07:00
gogacoder
271bd845bf Battery remaining algorithm modified 2024-03-08 23:09:26 +07:00
gogacoder
69c736b1eb Project structure redefinition 2024-03-01 22:58:59 +07:00
gogacoder
9d0f5d06ea Project structure redefined 2024-01-27 22:10:39 +07:00
gogacoder
941aedd79f moved all existing files to new 'src' directory 2024-01-27 22:07:53 +07:00
gogacoder
a355e36636 Project structure redefined 2024-01-27 21:41:59 +07:00
gogacoder
fa0a664e43 Code refactoring 2024-01-27 21:35:57 +07:00
gogacoder
2aa9648dd4 Better routing 2024-01-18 19:30:25 +07:00
gogacoder
5dd404d44b All modules and core of the app was created 2024-01-11 22:47:53 +07:00
gogacoder
3c2889b8f7 BluetoothDispatcher refactoring 2024-01-06 12:11:06 +07:00
gogacoder
b86af180ab More compact module sensors was added 2024-01-05 23:21:31 +07:00
gogacoder
89940fbec2 Column limit was added 2024-01-05 23:20:48 +07:00
50 changed files with 2797 additions and 441 deletions
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.gitignore vendored Normal file → Executable file
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# ---> C++
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# Compiled Object files
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*.smod
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*.la
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*.exe
*.out
*.app
.pio
.vscode/*
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
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2
.idea/helicopter_firmware.iml generated Executable file
View File

@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<module classpath="External" external.linked.project.id="helicopter_firmware" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="PlatformIO" type="CPP_MODULE" version="4" />

24
.idea/misc.xml generated Executable file
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<?xml version="1.0" encoding="UTF-8"?>
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6
.idea/vcs.xml generated Executable file
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="" vcs="Git" />
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</project>

84
Barometer.h
View File

@@ -1,84 +0,0 @@
#include "GyverBME280.h"
class Barometer {
public:
Barometer(GyverBME280 *bme) {
_bme = bme;
};
~Barometer() {
delete this->_bme;
}
bool initialize(void) {
_bme->setMode(NORMAL_MODE);
_bme->setFilter(FILTER_COEF_16);
_bme->setTempOversampling(OVERSAMPLING_2);
_bme->setPressOversampling(OVERSAMPLING_16);
_bme->setStandbyTime(STANDBY_500US);
return _bme->begin();
}
void measureBaseAltitudeSync(void) {
for (int i = 0; i < _calibrationIterationsCount; ++i) {
_startedAltitude += altitude();
delay(1);
}
_startedAltitude /= _calibrationIterationsCount;
}
void measureBaseAltitudeAsync(void) {
_isStartCalibration = true;
}
float rawAltitude() {
return pressureToAltitude(_bme->readPressure()) * 100;
}
float rawFlightHeight() {
return rawAltitude() - _startedAltitude;
}
float altitude() {
return _filterRA(pressureToAltitude(_bme->readPressure()) * 100); // convert from m to cm
}
float flightHeight() {
return altitude() - _startedAltitude;
}
void tick() {
if (_isStartCalibration) {
if (_isStartCalibration && millis() - _calibrationTimer >= _calibrationIterationDelay) {
_startedAltitude += altitude();
}
if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
_startedAltitude /= _calibrationIterationsCount;
_isStartCalibration = false;
}
}
}
private:
GyverBME280 *_bme;
float _startedAltitude = 0;
bool _isStartCalibration = false;
int _calibrationTimer;
int _calibrationIterationsCounter = 0;
const int _calibrationIterationsCount = 1500;
const int _calibrationIterationDelay = 1; // [ms]
float _filterRA(float newVal) {
// running average filter
constexpr auto WINDOW_SIZE = 100;
static int t = 0;
static float vals[WINDOW_SIZE];
static float average = 0;
if (++t >= WINDOW_SIZE)
t = 0;
average -= vals[t];
average += newVal;
vals[t] = newVal;
return ((float)average / WINDOW_SIZE);
}
};

19
BatteryController.h
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@@ -1,19 +0,0 @@
#include "board_pins.h"
class BatteryController {
public:
BatteryController() {}
void initialize() {
pinMode(BATTERY_DATA_SWITCH_PIN, OUTPUT);
digitalWrite(BATTERY_DATA_SWITCH_PIN, HIGH);
}
float measureVoltage() {
return analogRead(BATTERY_DATA_PIN) * 3.3 / 4095;
}
int percent(int minVoltage = 7200, int maxVoltage = 8400) {
return map(int(measureVoltage() * 1000), minVoltage, maxVoltage, 0, 100);
}
};

0
LICENSE Normal file → Executable file
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100
MPU.hpp
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@@ -1,100 +0,0 @@
#include "MPU6050_6Axis_MotionApps20.h"
#include "board_pins.h"
#include "esp_log.h"
volatile bool _isDMPDataReady = false;
void IRAM_ATTR _dmpInterruption() {
_isDMPDataReady = true;
}
class MPU {
public:
MPU(MPU6050_6Axis_MotionApps20 *mpu) {
_mpu = mpu;
}
~MPU() {
delete _mpu;
}
bool initialize() {
_mpu->initialize();
delay(250);
if (!_mpu->testConnection()) {
ESP_LOGE(_TAG, "MPU6050 test connection failed!");
return false;
}
_mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
//mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recomended
//mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
if (_mpu->dmpInitialize()) {
ESP_LOGE(_TAG, "Failed to initialize DMP!");
return false;
}
_mpu->setDMPEnabled(true);
attachInterrupt(MPU6050_INT_PIN, _dmpInterruption, RISING);
return true;
}
bool tick(bool &err) {
err = false;
if (!_isDMPDataReady) {
return false;
}
if (!_mpu->dmpGetCurrentFIFOPacket(_fifoBuffer)) {
ESP_LOGE(_TAG, "Failed to get DMP data!");
err = true;
return false;
}
Quaternion q;
VectorFloat gravity;
VectorInt16 accel;
VectorInt16 accelReal;
_mpu->dmpGetQuaternion(&q, _fifoBuffer);
_mpu->dmpGetGravity(&gravity, &q);
_mpu->dmpGetYawPitchRoll(_ypr, &q, &gravity);
_mpu->dmpGetAccel(&accel, _fifoBuffer);
_mpu->dmpGetLinearAccel(&accelReal, &accel, &gravity);
_isDMPDataReady = false;
_ax = accel.x / 8192.f;
_ay = accel.y / 8192.f;
_az = accel.z / 8192.f;
_calculateZInertial(gravity);
return true;
}
/* getters */
float accZInertial() {
return _AccZInertial;
}
float yaw() {
return degrees(_ypr[0]);
};
float pitch() {
return degrees(_ypr[1]);
};
float roll() {
return degrees(_ypr[2]);
};
private:
MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
float _ypr[3];
float _ax, _ay, _az;
float _AccZInertial = 0;
uint8_t _fifoBuffer[45];
//volatile bool _isDMPDataReady = false;
const char *_TAG = "MPU6050 module";
void _calculateZInertial(VectorFloat &gravity) {
const float anglePitch = _ypr[1];
const float angleRoll = _ypr[2];
_AccZInertial = -sin(anglePitch) * _ax + cos(anglePitch) * sin(angleRoll) * _ay + cos(anglePitch) * cos(angleRoll) * _az;
_AccZInertial = (_AccZInertial - 1) * gravity.z * 100;
}
};

0
README.md Normal file → Executable file
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73
RF/BluetoothDispatcher.cpp
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@@ -1,73 +0,0 @@
#include "BluetoothDispatcher.hpp"
static DeviceConnectedCb deviceConnectedCallback = nullptr;
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param);
BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char *device_name, HardwareSerial *serial) {
_device_name = device_name;
_controller = controller;
_serial = serial;
}
bool BluetoothDispatcher::initialize() {
_controller->enableSSP();
_controller->onConfirmRequest([this](uint16_t pin) {
_confirmRequestCallback(pin);
});
_controller->onAuthComplete([this](boolean success) {
_authCompleteCallback(success);
});
_controller->register_callback(deviceConnectedStaticCallback);
deviceConnectedCallback = [this](esp_bd_addr_t bt_addr) {
_deviceConnectedCallback(bt_addr);
};
_controller->setTimeout(2);
return _controller->begin(_device_name);
}
void BluetoothDispatcher::tick() {
while (_controller->available() and _buffer.length() <= _buffer_size) {
_buffer += (char)_controller->read();
}
if (_buffer.endsWith("\r")) {
_serial->println(_buffer.substring(0, _buffer.lastIndexOf("\r")));
_buffer.clear();
_controller->write((uint8_t *)"Hello, world!", strlen("Hello, world!"));
}
if (_buffer.length() > _buffer_size) {
_buffer.clear();
}
}
BluetoothDispatcher::~BluetoothDispatcher() {
_controller->end();
delete _controller;
}
void BluetoothDispatcher::_confirmRequestCallback(uint16_t pin) {
_confirmRequestDone = true;
_serial->print("The PIN is: ");
_serial->println(pin);
_controller->confirmReply(true);
}
void BluetoothDispatcher::_authCompleteCallback(boolean success) {
if (success) {
_confirmRequestDone = true;
_serial->println("Pairing success!");
} else {
_serial->println("Pairing failed, rejected by user!");
}
}
void BluetoothDispatcher::_deviceConnectedCallback(esp_bd_addr_t bt_addr) {
_serial->print("New connection opened: ");
_serial->println(BTAddress(bt_addr).toString(true));
}
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param) {
if (event == ESP_SPP_SRV_OPEN_EVT and param->srv_open.status == ESP_SPP_SUCCESS and deviceConnectedCallback) {
deviceConnectedCallback(param->srv_open.rem_bda);
}
}

42
RF/BluetoothDispatcher.hpp
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@@ -1,42 +0,0 @@
#include "Arduino.h"
#include "BluetoothSerial.h"
#include "HardwareSerial.h"
#include "Stream.h"
/* Check the ESP configuration */
#if not defined(CONFIG_BT_ENABLED) || not defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
#if not defined(CONFIG_BT_SPP_ENABLED)
#error Serial Port Profile for Bluetooth is not available or not enabled. It is only available for the ESP32 chip.
#endif
#if not defined(CONFIG_BT_SSP_ENABLED)
#error Simple Secure Pairing for Bluetooth is not available or not enabled.
#endif
/* ************************* */
typedef std::function<void(esp_bd_addr_t bt_addr)> DeviceConnectedCb;
class BluetoothDispatcher {
public:
BluetoothDispatcher(BluetoothSerial *controller, const char *device_name = "Helicopter", HardwareSerial *serial = &Serial);
bool initialize();
void tick();
~BluetoothDispatcher();
private:
void _confirmRequestCallback(uint16_t pin);
void _authCompleteCallback(boolean success);
void _deviceConnectedCallback(esp_bd_addr_t bt_addr);
const char *_device_name = nullptr;
bool _confirmRequestDone = false;
BluetoothSerial *_controller = nullptr;
HardwareSerial *_serial = nullptr;
static constexpr int _buffer_size = 256;
String _buffer;
};

8
board_pins.h
View File

@@ -1,8 +0,0 @@
#include "driver/adc.h"
#define I2C_SDA_PIN 21
#define I2C_SCL_PIN 18
#define MPU6050_INT_PIN 19
#define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
#define BATTERY_DATA_PIN 4
#define BATTERY_DATA_SWITCH_PIN 17

17
convert_sysincludes.py Executable file
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@@ -0,0 +1,17 @@
from pathlib import Path
Import("env" ,"projenv")
platform = env.PioPlatform()
FRAMEWORK_DIR = Path(platform.get_package_dir("framework-arduinoespressif32"))
framework_includes = list()
filtered_cpppath = list()
# apply these changes to current working env, the project env and the global env
for e in (env, projenv, DefaultEnvironment()):
for p in e["CPPPATH"]:
# is the current include path inside the framework directory?
if FRAMEWORK_DIR in Path(p).parents:
framework_includes.append(p)
else:
filtered_cpppath.append(p)
e.Replace(CPPPATH=filtered_cpppath)
e.Append(CCFLAGS=[("-isystem", p) for p in framework_includes])

70
get-platformio.py Executable file
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File diff suppressed because one or more lines are too long

39
include/README Executable file
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@@ -0,0 +1,39 @@
This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

46
lib/README Executable file
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@@ -0,0 +1,46 @@
This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

56
main.cpp
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@@ -1,56 +0,0 @@
#include "Barometer.h"
#include "BatteryController.h"
#include "Filters/Kalman2DFilter.hpp"
#include "GyverBME280.h"
#include "I2Cdev.h"
#include "MPU.hpp"
#include "MPU6050_6Axis_MotionApps20.h"
#include "RF/BluetoothDispatcher.hpp"
#include "Wire.h"
#include "board_pins.h"
#include <Arduino.h>
TwoWire i2c = TwoWire(0);
Barometer barometer(new GyverBME280(i2c));
MPU mpu(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c));
Kalman2DFilter kalman2d(10.f, 1.f, 1.8f);
BatteryController battery;
BluetoothDispatcher bluetoothDispatcher(new BluetoothSerial());
void setup() {
Serial.begin(115200);
Serial.print("Ininitialize I2C...");
Serial.println(
i2c.begin(I2C_SDA_PIN, I2C_SCL_PIN, 400000));
Serial.print("Ininitialize BMP280...");
Serial.println(
barometer.initialize());
Serial.print("Ininitialize MPU6050...");
Serial.println(
mpu.initialize());
Serial.print("Ininitialize Bluetooth...");
Serial.println(
bluetoothDispatcher.initialize());
battery.initialize();
barometer.measureBaseAltitudeSync();
Serial.println("System initialized");
}
void loop() {
bool err;
barometer.tick();
if (mpu.tick(err) && !err) {
float kalmanAltitude, ZVelocityAltitude;
float barometerAltitude = barometer.rawFlightHeight();
kalman2d.filter(mpu.accZInertial(), barometerAltitude, kalmanAltitude, ZVelocityAltitude);
//Serial.print(barometerAltitude);
}
bluetoothDispatcher.tick();
delay(1);
}

48
platformio.ini Executable file
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@@ -0,0 +1,48 @@
; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[platformio]
default_envs = esp32dev
[common]
lib_deps_builtin =
Wire
BluetoothSerial
lib_deps_external =
https://git.gogacoder.com/gogacoder/GyverBME280.git @ ~1.5.0
https://git.gogacoder.com/gogacoder/MPU6050.git @ ~1.0.0
https://git.gogacoder.com/gogacoder/I2Cdev.git @ ~1.0.1
https://github.com/GyverLibs/StringUtils @ 1.2.6
https://github.com/GyverLibs/GSON.git @ 1.1.5
https://github.com/tomstewart89/BasicLinearAlgebra.git @ 4.3
https://github.com/GyverLibs/mString.git @ 1.7
https://github.com/GyverLibs/GyverPID @ 3.3
https://github.com/pololu/vl53l0x-arduino @ 1.3.1
https://github.com/pololu/lps-arduino
[env:esp32dev]
platform = espressif32 @ 6.5.0
board = esp32dev
framework = arduino
lib_deps = ${common.lib_deps_external}
monitor_speed = 115200
board_build.partitions = huge_app.csv
build_src_flags =
-std=c++2a
-Wall
-Wextra
-Werror=all
-Wno-error=pedantic
-Wpedantic
-O2
build_flags = -DCORE_DEBUG_LEVEL=3
check_tool = pvs-studio
check_flags = pvs-studio: --analysis-mode=4 --exclude-path=.pio/libdeps --lic-file=~/.config/PVS-Studio/PVS-Studio.lic
extra_scripts = post:convert_sysincludes.py

6
.clang-format → src/.clang-format Normal file → Executable file
View File

@@ -1,7 +1,6 @@
# Source: https://github.com/arduino/tooling-project-assets/tree/main/other/clang-format-configuration
---
TabWidth: 2
UseTab: Never
AccessModifierOffset: -2
AlignAfterOpenBracket: Align
AlignConsecutiveAssignments: None
@@ -58,7 +57,7 @@ BreakConstructorInitializers: BeforeColon
BreakConstructorInitializersBeforeComma: false
BreakInheritanceList: BeforeColon
BreakStringLiterals: false
ColumnLimit: 0
ColumnLimit: 90
CommentPragmas: ''
CompactNamespaces: false
ConstructorInitializerAllOnOneLineOrOnePerLine: false
@@ -93,7 +92,6 @@ IncludeIsMainRegex: ''
IncludeIsMainSourceRegex: ''
IndentGotoLabels: false
IndentPPDirectives: None
IndentRequires: true
IndentWidth: 2
IndentWrappedFunctionNames: false
InsertTrailingCommas: None
@@ -149,7 +147,7 @@ StatementAttributeLikeMacros:
StatementMacros:
- Q_UNUSED
- QT_REQUIRE_VERSION
TabWidth: 2
#TabWidth: 2
UseCRLF: false
UseTab: Never
WhitespaceSensitiveMacros:

28
src/App.hpp Executable file
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@@ -0,0 +1,28 @@
// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#include "Logic/FlightDispatcher.hpp"
#include "esp_log.h"
class Application {
public:
Application(FlightDispatcher *dispatcher) {
assert(dispatcher != nullptr);
_dispatcher = dispatcher;
ESP_LOGI(_tag, "ESP_IDF version: %s", esp_get_idf_version());
ESP_LOGI(_tag, "Application startup complete");
}
void tick() {
_dispatcher->tick();
}
~Application() {
ESP_LOGI(_tag, "Application destroyed");
delete _dispatcher;
}
private:
FlightDispatcher *_dispatcher = nullptr;
static constexpr const char *_tag = "Application";
};

23
src/BoardI2C.hpp Executable file
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@@ -0,0 +1,23 @@
// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#define CONFIG_DISABLE_HAL_LOCKS 0
#include "Wire.h"
#include "board_pins.h"
#include "esp_log.h"
class BoardI2C : public TwoWire {
public:
BoardI2C() : TwoWire(0) {
if (begin(I2C_SDA_PIN, I2C_SCL_PIN, 100000)) {
setTimeOut(10);
ESP_LOGI("I2CBus", "Bus initialized");
} else {
ESP_LOGE("I2CBus", "Failed to initialize the i2c software bus!");
assert(false);
}
}
};

39
Filters/Kalman2DFilter.hpp → src/Filters/Kalman2DFilter.hpp Normal file → Executable file
View File

@@ -1,41 +1,38 @@
// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include <BasicLinearAlgebra.h>
class Kalman2DFilter {
public:
public:
Kalman2DFilter(float dt = 4.f, float accelUncertainty = 10.f, float barometerUncertainty = 100.f) {
dt /= 1000.f;
F = { 1, dt,
0, 1 };
G = { 0.5f * dt * dt,
dt };
H = { 1, 0 };
I = { 1, 0,
0, 1 };
F = {1, dt, 0, 1};
G = {0.5f * dt * dt, dt};
H = {1, 0};
I = {1, 0, 0, 1};
Q = G * ~G * accelUncertainty * accelUncertainty;
R = { barometerUncertainty * barometerUncertainty };
P = { 0, 0,
0, 0 };
S = { 0,
0 };
R = {barometerUncertainty * barometerUncertainty};
P = {0, 0, 0, 0};
S = {0, 0};
}
void filter(const float &AccZInertial,
const float &AltitudeBarometer,
float &AltitudeKalman,
float &VelocityVerticalKalman) {
Acc = { AccZInertial };
void filter(const float &AccZInertial, const float &AltitudeBarometer,
float &AltitudeKalman, float &VelocityVerticalKalman) {
Acc = {AccZInertial};
S = F * S + G * Acc;
P = F * P * ~F + Q;
L = H * P * ~H + R;
K = P * ~H * Inverse(L);
M = { AltitudeBarometer };
M = {AltitudeBarometer};
S = S + K * (M - H * S);
AltitudeKalman = S(0, 0);
VelocityVerticalKalman = S(1, 0);
P = (I - K * H) * P;
}
private:
private:
BLA::Matrix<2, 2> F;
BLA::Matrix<2, 1> G;
BLA::Matrix<2, 2> P;
@@ -48,4 +45,4 @@ class Kalman2DFilter {
BLA::Matrix<1, 1> R;
BLA::Matrix<1, 1> L;
BLA::Matrix<1, 1> M;
};
};

1
Filters/kalman.hpp → src/Filters/kalman.hpp Normal file → Executable file
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@@ -1,4 +1,5 @@
// упрощённый Калман для одномерного случая
#pragma once
#ifndef _GKalman_h
#define _GKalman_h

1
Filters/median3.hpp → src/Filters/median3.hpp Normal file → Executable file
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@@ -1,4 +1,5 @@
// быстрый медианный фильтр 3-го порядка
#pragma once
#ifndef _GMedian3_h
#define _GMedian3_h

1
Filters/runningAverage.hpp → src/Filters/runningAverage.hpp Normal file → Executable file
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@@ -1,4 +1,5 @@
// экспоненциальное бегущее среднее
#pragma once
#ifndef _GFilterRA_h
#define _GFilterRA_h

222
src/Logic/FlightController.cpp Executable file
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@@ -0,0 +1,222 @@
#include "FlightController.hpp"
FlightController::FlightController(
Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
BrushedMotor *rotor1, BrushedMotor *rotor2,
PIDController *tailRotorController, bool unlimitedBattery
) {
assert(sensors != nullptr);
assert(heightController != nullptr);
assert(yawController != nullptr);
assert(tailRotorController != nullptr);
assert(rotor1 != nullptr);
assert(rotor2 != nullptr);
_sensors = sensors;
_unlimitedBattery = unlimitedBattery;
_heightController = heightController;
_yawController = yawController;
_tailRotorController = tailRotorController;
_rotor1 = rotor1;
_rotor2 = rotor2;
_status = DeviceStatus::Idle;
_checkBatteryCharge();
stopAllRotors();
_initPidControllers();
ESP_LOGI(_tag, "Flight controller initialized");
}
FlightController::~FlightController() {
delete _sensors;
delete _heightController;
delete _yawController;
delete _tailRotorController;
delete _rotor1;
delete _rotor2;
}
void FlightController::tick() {
bool hasUpdates = _sensors->tick();
_checkBatteryCharge();
// TODO: don't apply pid values to motors while DeviceStatus != IsFlying
switch (_status) {
case DeviceStatus::Idle:
break;
case DeviceStatus::ChargeRequired:
break;
case DeviceStatus::IsPreparingForTakeoff:
break;
case DeviceStatus::IsImuCalibration:
break;
case DeviceStatus::IsBoarding:
/* TODO: implement boarding */
if (hasUpdates) {
_boarding();
}
break;
case DeviceStatus::IsFlying:
/* TODO: implement flying */
break;
}
if (hasUpdates and (_status == DeviceStatus::IsFlying or _status == DeviceStatus::IsBoarding)) {
_tailRotorController->input = round(_sensors->mpuData().pitch * 10) / 10;
_tailRotorController->update();
_heightController->input = _sensors->flightHeight();
//auto baseDuty = (uint32_t) round(_heightController->getResultNow());
//_rotor1->setDuty(baseDuty);
//_rotor2->setDuty(baseDuty);
}
}
ReportedDeviceState FlightController::currentDeviceState() const {
return {
.batteryCharge = _sensors->batteryCharge(),
.flightHeight = _sensors->flightHeight(),
.status = _status,
.mpuState = _sensors->mpuData()
};
}
void FlightController::startTakeoff() {
/* Start preparation for takeoff */
_checkBatteryCharge();
if (_status != DeviceStatus::Idle)
return;
_status = DeviceStatus::IsPreparingForTakeoff;
_sensors->onMeasuaringAltitudeFinished([this]() {
if (_status == DeviceStatus::IsPreparingForTakeoff) {
// Preparation for takeoff is done
_takeoff();
}
});
_sensors->measureBaseAltitudeAsync();
}
void FlightController::startBoarding() {
if (_status == DeviceStatus::IsFlying) {
_status = DeviceStatus::IsBoarding;
}
}
void FlightController::_checkBatteryCharge() {
if (_unlimitedBattery)
return;
if (_sensors->batteryCharge() <= _batteryCriticalCharge) {
if (_status == DeviceStatus::IsFlying) {
startBoarding();
} else {
_status = DeviceStatus::ChargeRequired;
}
}
}
void FlightController::_takeoff() {
// TODO: implement takeoff
_status = DeviceStatus::IsFlying;
_tailRotorController->enable();
_heightController->integral = 0.f;
_heightController->setpoint = _defaultFlightHeight;
}
void FlightController::_boarding() {
if (_sensors->flightHeight() <= _defaultStopMotorHeight) {
stopAllRotors();
} else {
_heightController->setpoint -= _boarding_speed;
}
}
void FlightController::startImuCalibration() {
if (_status != DeviceStatus::Idle)
return;
ESP_LOGI(_tag, "Started IMU calibration");
_status = DeviceStatus::IsImuCalibration;
_sensors->startMpuCalibration();
_sensors->onMpuCalibrationFinished([this]() {
this->_status = DeviceStatus::Idle;
});
}
void FlightController::moveToFlightHeight(float newFlightHeight) {
// TODO: implement setting flight height
}
void FlightController::newFlightHeightStickPosition(int16_t newFlightHeightStickPostition) {
// TODO: implement stick input
}
void FlightController::newYawStickPosition(int16_t newYawStickPostition) {
// TODO: implement stick input
}
void FlightController::newPitchStickPosition(int16_t newYawStickPostition) {
// TODO: implement stick input
}
void FlightController::setRotor1Duty(int16_t rotor1Duty) {
{
auto duty = (int16_t) map((long) rotor1Duty, 0, 5000, 0, 1023);
_rotor1->setExtendedDuty(duty);
_rotor2->setExtendedDuty(duty);
}
}
void FlightController::setRotor2Duty(int16_t rotor2Duty) {
{
auto duty = (int16_t) map((long) rotor2Duty, 0, 5000, 0, 1023);
_rotor1->setExtendedDuty(duty);
_rotor2->setExtendedDuty(duty);
}
}
void FlightController::setRotor3Duty(int16_t rotor3Duty) {
if (_status == DeviceStatus::Idle) {
auto duty = (int16_t) map((long) rotor3Duty, -5000, 5000, -1023, 1023);
_tailRotorController->setRotorDuty(duty);
}
}
void FlightController::stopAllRotors() {
_tailRotorController->disable();
setRotor1Duty(0);
setRotor2Duty(0);
setRotor3Duty(0);
_status = DeviceStatus::Idle;
}
void FlightController::setHeightControllerParams(float p, float i, float d) {
if (_status == DeviceStatus::Idle) {
_heightController->setParams({.p = p, .i = i, .d = d});
}
}
void FlightController::setYawControllerParams(float p, float i, float d) {
if (_status == DeviceStatus::Idle) {
_yawController->setParams({.p = p, .i = i, .d = d});
}
}
void FlightController::setPitchControllerParams(float p, float i, float d) {
if (_status == DeviceStatus::Idle) {
_tailRotorController->setParams({.p = p, .i = i, .d = d});
}
}
PidSettings FlightController::pidSettings() const {
PidSettings settings{};
settings.flightController = {.p = _heightController->Kp, .i = _heightController->Ki, .d = _heightController->Kd};
settings.yawController = {.p = _yawController->Kp, .i = _yawController->Ki, .d = _yawController->Kd};
settings.pitchController = {
.p = _tailRotorController->Kp, .i = _tailRotorController->Ki, .d = _tailRotorController->Kd
};
return settings;
}
void FlightController::_initPidControllers() {
_tailRotorController->setpoint = 180.f;
_heightController->setLimits(0, _rotor1->maxDuty());
}

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include "PIDController.hpp"
#include "Sensors/Sensors.hpp"
enum DeviceStatus {
Idle = 0,
IsPreparingForTakeoff,
IsFlying,
IsBoarding,
IsImuCalibration,
ChargeRequired
};
struct ReportedDeviceState {
int batteryCharge;
float flightHeight;
DeviceStatus status;
MpuData mpuState;
};
struct FlightParams {
float height; // [cm]
float yaw; // [degrees]
float pitch; // [degrees]
};
struct PidSettings {
PidParams flightController;
PidParams yawController;
PidParams pitchController;
};
class FlightController {
public:
FlightController(Sensors *sensors, SavedPidRegulator *heightController, SavedPidRegulator *yawController,
BrushedMotor *_rotor1, BrushedMotor *_rotor2,
PIDController *tailRotor, bool unlimitedBattery);
~FlightController();
[[nodiscard]] ReportedDeviceState currentDeviceState() const;
void startTakeoff();
void startBoarding();
void startImuCalibration();
void tick();
[[deprecated]] void moveToFlightHeight(float newFlightHeight); //[cm]
[[deprecated]] void newFlightHeightStickPosition(int16_t newFlightHeightStickPostition);
[[deprecated]] void newYawStickPosition(int16_t newYawStickPostition);
[[deprecated]] void newPitchStickPosition(int16_t newPitchStickPostition);
void setRotor1Duty(int16_t rotor1Duty);
void setRotor2Duty(int16_t rotor2Duty);
void setRotor3Duty(int16_t rotor3Duty);
void stopAllRotors();
void setHeightControllerParams(float p, float i, float d);
void setYawControllerParams(float p, float i, float d);
void setPitchControllerParams(float p, float i, float d);
[[nodiscard]] PidSettings pidSettings() const;
private:
void _checkBatteryCharge();
void _initPidControllers();
void _updateSetpoints();
void _updatePidControllers();
void _takeoff();
void _boarding();
Sensors *_sensors = nullptr;
SavedPidRegulator *_heightController = nullptr;
SavedPidRegulator *_yawController = nullptr;
PIDController *_tailRotorController = nullptr;
BrushedMotor *_rotor1 = nullptr;
BrushedMotor *_rotor2 = nullptr;
DeviceStatus _status;
//uint32_t _flightTimer;
//float _verticalVelocityOffset = 0.f; // [cm/10 ms]
//float _pitchVelocityOffset = 0.f; // [degrees/10 ms]
static constexpr const char *_tag = "FlightController";
static constexpr uint8_t _batteryCriticalCharge = 15; // [%]
static constexpr float _defaultFlightHeight = 55.f; // [cm]
static constexpr float _defaultHorizontAngle = 180.f; // [degrees]
static constexpr float _boarding_speed = 0.1; // [cm/10 ms]
static constexpr float _defaultStopMotorHeight = 15; // [cm]
bool _unlimitedBattery = false; // for debug purposes
};

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#include "FlightDispatcher.hpp"
FlightDispatcher::FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
FlightController *flightController, volatile bool loop_on_fail) {
assert(bluetoothDispatcher != nullptr);
assert(flightController != nullptr);
_bluetoothDispatcher = bluetoothDispatcher;
_flightController = flightController;
bluetoothDispatcher->onNewDeviceConnected([this](BTAddress device) {
this->_onNewDeviceConnected(device);
});
bluetoothDispatcher->onNewPackageReceived([this](char *package) {
this->_onNewMessageReceived(package);
});
if (_bluetoothDispatcher->initialize()) {
ESP_LOGI(_tag, "Bluetooth initialized successfully.");
} else {
ESP_LOGE(_tag, "Failed to initialize Bluetooth dispatcher!");
while (loop_on_fail);
}
_telemetryTimer = millis();
}
FlightDispatcher::~FlightDispatcher() {
delete _bluetoothDispatcher;
delete _flightController;
}
void FlightDispatcher::tick() {
_flightController->tick();
_bluetoothDispatcher->tick();
if (millis() - _telemetryTimer >= _telemetryTimeIntervalMS) {
_sendTelemetry();
_telemetryTimer = millis();
}
}
void FlightDispatcher::_onNewDeviceConnected(BTAddress device) {
_sendTelemetry();
}
void FlightDispatcher::_onNewMessageReceived(char *package) {
using sutil::SH;
ESP_LOGD(_tag, "Received new package: %s", package);
gson::Doc pkg;
if (!pkg.parse(package, _jsonMaxDepth)) {
ESP_LOGE(_tag, "Parcing error occured with new package (error %s, place %d): %s",
pkg.readError(), pkg.errorIndex(), package);
} else {
pkg.hashKeys();
for (int keyIndex = 0; keyIndex < pkg.length(); ++keyIndex) {
auto pair = pkg[pkg.keyHash(keyIndex)];
auto value = pair.value();
if (!pair.valid()) {
continue;
}
switch (pkg.keyHash(keyIndex)) {
case SH("status"):
_changeStatus((DeviceStatus) value.toInt32());
break;
case SH("flightHeight"):
_flightController->moveToFlightHeight(value.toFloat());
break;
case SH("hS"):
_flightController->newFlightHeightStickPosition(value.toInt16());
break;
case SH("yS"):
_flightController->newYawStickPosition(value.toInt16());
break;
case SH("pS"):
_flightController->newPitchStickPosition(value.toInt16());
break;
case SH("r1"):
_flightController->setRotor1Duty(value.toInt16());
break;
case SH("r2"):
_flightController->setRotor2Duty(value.toInt16());
break;
case SH("r3"):
_flightController->setRotor3Duty(value.toInt16());
break;
case SH("stop"):
_flightController->stopAllRotors();
break;
case SH("p1"):
if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
and pair.includes(SH("i")) and pair.includes(SH("d"))) {
_flightController->setHeightControllerParams(
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
}
break;
case SH("p2"):
if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
and pair.includes(SH("i")) and pair.includes(SH("d"))) {
_flightController->setPitchControllerParams(
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
}
break;
case SH("p3"):
if (pair.type() == gson::Type::Object and pair.includes(SH("p"))
and pair.includes(SH("i")) and pair.includes(SH("d"))) {
_flightController->setYawControllerParams(
pair[SH("p")].toFloat(), pair[SH("i")].toFloat(), pair[SH("d")].toFloat());
}
break;
case SH("pidSettingOpened"):
_pidSettingsOpened();
break;
default:
break;
}
}
}
}
void FlightDispatcher::_changeStatus(const DeviceStatus &newStatus) {
switch (newStatus) {
case DeviceStatus::IsImuCalibration:
_flightController->startImuCalibration();
break;
case DeviceStatus::IsFlying:
_flightController->startTakeoff();
break;
case DeviceStatus::IsPreparingForTakeoff:
_flightController->startTakeoff();
break;
case DeviceStatus::IsBoarding:
_flightController->startBoarding();
break;
default:
break;
}
}
void FlightDispatcher::_pidSettingsOpened() {
auto settings = _flightController->pidSettings();
gson::string pkg;
pkg.beginObj();
pkg.beginObj("p1");
pkg.addFloat("p", settings.flightController.p, 5);
pkg.addFloat("i", settings.flightController.i, 5);
pkg.addFloat("d", settings.flightController.d, 5);
pkg.endObj();
pkg.beginObj("p2");
pkg.addFloat("p", settings.pitchController.p, 5);
pkg.addFloat("i", settings.pitchController.i, 5);
pkg.addFloat("d", settings.pitchController.d, 5);
pkg.endObj();
pkg.beginObj("p3");
pkg.addFloat("p", settings.yawController.p, 5);
pkg.addFloat("i", settings.yawController.i, 5);
pkg.addFloat("d", settings.yawController.d, 5);
pkg.endObj();
pkg.endObj();
pkg.end();
pkg.s = String(MessageType::PidSettings) + ";" + pkg.s;
_bluetoothDispatcher->sendPackage(pkg.s.c_str());
ESP_LOGI(_tag, "PID settings sended %s", pkg.s.c_str());
}
void FlightDispatcher::_sendTelemetry() {
/* Notify mobile client about device state */
auto state = _flightController->currentDeviceState();
gson::string package;
package.beginObj();
package["charge"] = state.batteryCharge;
package["flightHeight"] = state.flightHeight;
package["status"] = state.status;
package["y"] = state.mpuState.yaw;
package["p"] = state.mpuState.pitch;
package["r"] = state.mpuState.roll;
package["zIn"] = state.mpuState.zInertial;
package.endObj();
package.end();
package.s = String(MessageType::UpdatePackage) + ";" + package.s;
_bluetoothDispatcher->sendPackage(package.s.c_str());
}

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include "FlightController.hpp"
#include "GSON.h"
#include "RF/BluetoothDispatcher.hpp"
#include <map>
// Message type annotation for mobile app
enum MessageType {
UpdatePackage = 0, PidSettings
};
class FlightDispatcher {
/* Deserialize state and update it in FlightController. */
public:
FlightDispatcher(BluetoothDispatcher *bluetoothDispatcher,
FlightController *flightController, volatile bool loop_on_fail = true);
~FlightDispatcher();
void tick();
private:
/* Telemetry flow */
void _sendTelemetry();
/* Events handlers */
void _onNewDeviceConnected(BTAddress device);
void _onNewMessageReceived(char *package);
/* Requests handlers */
void _changeStatus(const DeviceStatus &newStatus);
void _pidSettingsOpened();
/* Compile time settings */
static constexpr const char *_tag = "FlightDispatcher";
static constexpr const int _telemetryTimeIntervalMS = 200;
static constexpr const uint8_t _jsonMaxDepth = 5;
uint32_t _telemetryTimer = millis();
BluetoothDispatcher *_bluetoothDispatcher;
FlightController *_flightController;
};

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include "Motor/BrushedMotor.hpp"
#include "SavedPidRegulator.hpp"
#include "esp_log.h"
class PIDController : public SavedPidRegulator {
public:
PIDController(float p, float i, float d, BrushedMotor *rotor,
const char *name = "PID", uint16_t dt = 10, const bool isEnabled = false)
: SavedPidRegulator(p, i, d, name, dt) {
assert(rotor != nullptr);
_rotor = rotor;
_isEnabled = isEnabled;
setLimits(-_rotor->maxDuty(), _rotor->maxDuty());
setDirection(REVERSE);
_pid_timer = millis();
ESP_LOGI(_tag, "PID %s initialized with params (%f, %f, %f)", name, Kp, Ki, Kd);
}
void enable() {
_isEnabled = true;
_rotor->setDuty(0);
integral = 0;
}
void disable() {
_isEnabled = false;
_rotor->setDuty(0);
}
void update() {
if (_isEnabled) {
//ESP_LOGI(_tag, "Setpoint: %f", setpoint);
//ESP_LOGI(_tag, "Input: %f", input);
//ESP_LOGI(_tag, "Output: %d", (int16_t) round(getResultNow()));
setRotorDuty((int16_t) round(getResultNow()));
}
}
void setRotorDuty(int16_t duty) {
/* Used only for test purposes */
_rotor->setExtendedDuty(duty);
}
private:
//uint16_t _dt;
BrushedMotor *_rotor = nullptr;
uint32_t _pid_timer = 0;
bool _isEnabled = false;
};

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#pragma once
#include "GyverPID.h"
#include "Preferences.h"
#include "esp_log.h"
#include <memory>
struct PidParams {
float p;
float i;
float d;
};
class SavedPidRegulator : public GyverPID {
public:
SavedPidRegulator(float p, float i, float d, const char *name = "saved_pid", const uint16_t dt = 10)
: GyverPID(p, i, d, static_cast<int16_t>(dt)) {
_name = name;
_preferences.begin(name);
_pDefault = p;
_iDefault = i;
_dDefault = d;
_loadPreferences();
ESP_LOGI(_tag, "PID %s initialized with params (%f, %f, %f)", _name.c_str(), Kp, Ki, Kd);
}
void setParams(PidParams params) {
this->Kp = params.p;
this->Ki = params.i;
this->Kd = params.d;
save();
}
PidParams getParams() {
PidParams params{};
params.p = Kp;
params.i = Ki;
params.d = Kd;
return params;
}
void resetToDefault() {
this->Kp = _pDefault;
this->Ki = _iDefault;
this->Kd = _dDefault;
save();
}
void save() {
_preferences.putFloat("p", Kp);
_preferences.putFloat("i", Ki);
_preferences.putFloat("d", Kd);
ESP_LOGI(_tag, "PID %s saved with params (%f, %f, %f)", _name.c_str(), Kp, Ki, Kd);
}
protected:
static constexpr const char *_tag = "PIDController";
private:
float _pDefault = 0.f;
float _iDefault = 0.f;
float _dDefault = 0.f;
String _name = "PID";
Preferences _preferences;
void _loadPreferences() {
if (_preferences.isKey("p") and _preferences.isKey("i") and _preferences.isKey("d")) {
Kp = _preferences.getFloat("p", _pDefault);
Ki = _preferences.getFloat("i", _iDefault);
Kd = _preferences.getFloat("d", _dDefault);
}
}
};

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#include "BrushedMotor.hpp"
BrushedMotor::BrushedMotor(uint32_t pwmAGpioNum, uint32_t pwmBGpioNum, uint32_t frequency,
uint8_t channel, uint8_t resolution, const char *name, bool forward_directional) {
_resolution = resolution;
_pwmAGpioNum = pwmAGpioNum;
_pwmBGpioNum = pwmBGpioNum;
_channel = channel;
_frequency = frequency;
_forward_directional = forward_directional;
_tag_name = name;
pinMode(_pwmAGpioNum, OUTPUT);
pinMode(_pwmBGpioNum, OUTPUT);
ledcAttachPin(_pwmAGpioNum, _channel);
ledcSetup(_channel, _frequency, _resolution);
coast();
}
void BrushedMotor::setDuty(uint32_t duty) const {
ledcWrite(_channel, duty);
}
void BrushedMotor::decrement(uint32_t k) const {
ledcWrite(_channel, ledcRead(_channel) - k);
}
void BrushedMotor::setExtendedDuty(int32_t duty) {
if (duty > 0) {
forward();
} else if (duty < 0) {
backward();
}
setDuty(abs(duty));
}
uint32_t BrushedMotor::maxDuty() const {
return pow(2, _resolution) - 1;
}
void BrushedMotor::_apply_directional() const {
auto current_duty = ledcRead(_channel);
if (_forward_directional) {
ledcDetachPin(_pwmBGpioNum);
ledcAttachPin(_pwmAGpioNum, _channel);
} else {
ledcDetachPin(_pwmAGpioNum);
ledcAttachPin(_pwmBGpioNum, _channel);
}
setDuty(current_duty);
}
void BrushedMotor::forward() {
if (_forward_directional)
return;
ESP_LOGI(_tag_name.c_str(), "Moving forward");
_forward_directional = true;
_apply_directional();
}
void BrushedMotor::backward() {
if (!_forward_directional)
return;
_forward_directional = false;
_apply_directional();
}
void BrushedMotor::reverse() {
_forward_directional = !_forward_directional;
_apply_directional();
}
void BrushedMotor::coast() const {
setDuty(0);
}

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include <cstdint>
#include "Arduino.h"
#include <cstring>
class BrushedMotor {
// TODO: rewrite with MCPWM
public:
BrushedMotor(uint32_t pwmAGpioNum, uint32_t pwmBGpioNum, uint32_t frequency,
uint8_t channel, uint8_t resolution, const char *name = "Rotor1", bool forward_directional = true);
void setDuty(uint32_t duty) const;
void setExtendedDuty(int32_t duty);
[[nodiscard]] uint32_t maxDuty() const;
void forward();
void backward();
void reverse();
void coast() const;
void decrement(uint32_t k) const;
private:
uint8_t _channel;
uint32_t _frequency;
uint32_t _resolution;
uint32_t _pwmAGpioNum;
uint32_t _pwmBGpioNum;
bool _forward_directional;
String _tag_name = "BrushedMotor";
void _apply_directional() const;
};

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#include "BluetoothDispatcher.hpp"
static DeviceConnectedCb deviceConnectedCallback = nullptr;
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param);
BluetoothDispatcher::BluetoothDispatcher(BluetoothSerial *controller, const char *device_name) {
assert(controller != nullptr);
assert(device_name != nullptr);
_device_name = device_name;
_controller = controller;
}
bool BluetoothDispatcher::initialize(int readTimeoutMS) {
bool success = _controller->begin(_device_name, false);
_controller->enableSSP();
_controller->onConfirmRequest([this](uint16_t pin) {
_onConfirmRequest(pin);
});
_controller->onAuthComplete([this](boolean success) {
_onAuthComplete(success);
});
_controller->register_callback(deviceConnectedStaticCallback);
deviceConnectedCallback = [this](BTAddress device) {
_onDeviceConnected(device);
};
//_controller->setTimeout(readTimeoutMS);
if (!success) {
ESP_LOGI(_tag, "Failed to initialize Bluetooth controller!");
assert(false);
} else {
ESP_LOGI(_tag, "Bluetooth host initialized");
return true;
}
}
void BluetoothDispatcher::onNewPackageReceived(NewPackageCallback newPackageReceivedCb) {
_newPackageReceivedCb = std::move(newPackageReceivedCb);
}
void BluetoothDispatcher::tick(const char message_delimeter) {
/* Call the callback, if new package received */
/* Warning! Logging below can cause errors and freezes */
while (_controller->available()) {
int c = _controller->read();
if (c == -1) {
_buffer.clear();
} else if (c == message_delimeter) {
if (_newPackageReceivedCb) {
_newPackageReceivedCb(_buffer.buf);
}
_buffer.clear();
} else {
_buffer += (char) c;
}
}
}
BluetoothDispatcher::~BluetoothDispatcher() {
_controller->end();
delete _controller;
}
void BluetoothDispatcher::_onConfirmRequest(uint16_t pin) {
ESP_LOGI(_tag, "The Bluetooth PIN is: %06lu", (long unsigned int) pin);
_controller->confirmReply(true);
}
void BluetoothDispatcher::_onAuthComplete(boolean success) const {
if (success) {
ESP_LOGI(_tag, "Pairing success!");
} else {
ESP_LOGI(_tag, "Pairing failed, rejected by user!");
}
}
void BluetoothDispatcher::_onDeviceConnected(BTAddress device) {
ESP_LOGI(_tag, "New device connected: %s", device.toString(true).c_str());
_buffer.clear();
_controller->flush();
if (_deviceConnectedCallback) {
_deviceConnectedCallback(device);
}
}
void BluetoothDispatcher::onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb) {
/* Callback called if device connected successfully. */
_deviceConnectedCallback = std::move(deviceConnectedCb);
}
void BluetoothDispatcher::sendPackage(const char *package) {
if (!_controller->hasClient())
return;
_controller->println(package);
}
static void deviceConnectedStaticCallback(esp_spp_cb_event_t event, esp_spp_cb_param_t *param) {
if (event == ESP_SPP_SRV_OPEN_EVT and param->srv_open.status == ESP_SPP_SUCCESS
and deviceConnectedCallback) {
deviceConnectedCallback(BTAddress(param->srv_open.rem_bda));
}
}

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#define TX_QUEUE_SIZE 512
#include "BluetoothSerial.h"
#include "HardwareSerial.h"
#include "esp_log.h"
#include "mString.h"
/* Check the ESP configuration */
#if not defined(CONFIG_BT_ENABLED) || not defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` to and enable it
#endif
#if not defined(CONFIG_BT_SPP_ENABLED)
#error Serial Port Profile for Bluetooth is not available or not enabled. It is only available for the ESP32 chip.
#endif
#if not defined(CONFIG_BT_SSP_ENABLED)
#error Simple Secure Pairing for Bluetooth is not available or not enabled.
#endif
/* ************************* */
typedef std::function<void(BTAddress device)> DeviceConnectedCb;
typedef std::function<void(char *package)> NewPackageCallback;
class BluetoothDispatcher {
public:
BluetoothDispatcher(BluetoothSerial *controller, const char *device_name = "Helicopter");
bool initialize(int readTimeoutMS = 10);
void tick(const char message_delimeter = '\n');
void onNewPackageReceived(NewPackageCallback newPackageReceivedCb);
void onNewDeviceConnected(DeviceConnectedCb deviceConnectedCb);
void sendPackage(const char *package);
~BluetoothDispatcher();
private:
void _onConfirmRequest(uint16_t pin);
void _onAuthComplete(boolean success) const;
void _onDeviceConnected(BTAddress device);
const char *_device_name = nullptr;
BluetoothSerial *_controller = nullptr;
DeviceConnectedCb _deviceConnectedCallback = nullptr;
NewPackageCallback _newPackageReceivedCb = nullptr;
constexpr static const char *_tag = "BluetoothDispatcher";
static constexpr uint16_t _buffer_size = 512;
mString<_buffer_size> _buffer;
};

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include "GyverBME280.h"
typedef std::function<void()> OnMeasuringFinishedCb;
class Barometer {
public:
explicit Barometer(GyverBME280 *bme) {
assert(bme != nullptr);
_bme = bme;
}
~Barometer() {
delete this->_bme;
}
bool initialize(void) {
_bme->setMode(NORMAL_MODE);
_bme->setFilter(FILTER_COEF_16);
_bme->setTempOversampling(OVERSAMPLING_2);
_bme->setPressOversampling(OVERSAMPLING_16);
_bme->setStandbyTime(STANDBY_500US);
return _bme->begin();
}
void measureBaseAltitudeSync(void) {
for (int i = 0; i < _calibrationIterationsCount; ++i) {
_startedAltitude += altitude();
delay(_calibrationIterationDelay);
}
_startedAltitude /= _calibrationIterationsCount;
}
void measureBaseAltitudeAsync(void) {
_calibrationIterationsCounter = 0;
_calibrationTimer = millis();
_isCalibration = true;
_startedAltitude = 0.f;
}
float altitude() /* [cm] */ {
return pressureToAltitude(_bme->readPressure()) * 100;
}
float flightHeight() /* [cm] */ {
if (_isCalibration)
return 0.f;
return round(altitude() - _startedAltitude);
}
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
_measuaringHeightFinishedCb = std::move(callback);
}
void tick() {
if (_isCalibration) {
if (millis() - _calibrationTimer >= _calibrationIterationDelay) {
_startedAltitude += altitude();
}
if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
_startedAltitude /= _calibrationIterationsCount;
_isCalibration = false;
if (_measuaringHeightFinishedCb) {
_measuaringHeightFinishedCb();
}
}
}
}
private:
GyverBME280 *_bme;
float _startedAltitude = 0.f;
bool _isCalibration = false;
uint32_t _calibrationTimer = 0;
int _calibrationIterationsCounter = 0;
OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
static constexpr int _calibrationIterationsCount = 800;
static constexpr int _calibrationIterationDelay = 1; // [ms]
};

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include "GyverBME280.h"
typedef std::function<void()> OnMeasuringFinishedCb;
class Barometer {
public:
Barometer(GyverBME280 *bme) {
_bme = bme;
};
~Barometer() {
delete this->_bme;
}
bool initialize(void) {
_bme->setMode(NORMAL_MODE);
_bme->setFilter(FILTER_COEF_16);
_bme->setTempOversampling(OVERSAMPLING_2);
_bme->setPressOversampling(OVERSAMPLING_16);
_bme->setStandbyTime(STANDBY_500US);
return _bme->begin();
}
void measureBaseAltitudeSync(void) {
for (int i = 0; i < _calibrationIterationsCount; ++i) {
_startedAltitude += altitude();
delay(_calibrationIterationDelay);
}
_startedAltitude /= _calibrationIterationsCount;
}
void measureBaseAltitudeAsync(void) {
_calibrationIterationsCounter = 0;
_calibrationTimer = millis();
_isCalibration = true;
_startedAltitude = 0.f;
}
float altitude() /* [cm] */ {
return pressureToAltitude(_bme->readPressure()) * 100;
}
float flightHeight() /* [cm] */ {
if (_isCalibration)
return 0.f;
else return round(altitude() - _startedAltitude);
}
void onMeasuaringHeightFinished(OnMeasuringFinishedCb callback) {
_measuaringHeightFinishedCb = std::move(callback);
}
void tick() {
if (_isCalibration) {
if (millis() - _calibrationTimer >= _calibrationIterationDelay) {
_startedAltitude += altitude();
}
if (++_calibrationIterationsCounter >= _calibrationIterationsCount) {
_startedAltitude /= _calibrationIterationsCount;
_isCalibration = false;
if (_measuaringHeightFinishedCb) {
_measuaringHeightFinishedCb();
}
}
}
}
private:
GyverBME280 *_bme;
float _startedAltitude = 0.f;
bool _isCalibration = false;
uint32_t _calibrationTimer = 0;
int _calibrationIterationsCounter = 0;
OnMeasuringFinishedCb _measuaringHeightFinishedCb = nullptr;
static constexpr int _calibrationIterationsCount = 800;
static constexpr int _calibrationIterationDelay = 1; // [ms]
};

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src/Sensors/BatteryController.hpp Executable file
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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include "board_pins.h"
class BatteryController {
public:
BatteryController(const uint16_t batteryPin, const uint16_t battery_data_switch_pin) {
_battery_pin = batteryPin;
_battery_data_switch_pin = battery_data_switch_pin;
}
void initialize() const {
pinMode(_battery_data_switch_pin, OUTPUT);
digitalWrite(_battery_data_switch_pin, HIGH);
analogReadResolution(12);
analogSetWidth(12);
adcAttachPin(_battery_pin);
}
int percent(const float minVoltage = 7.2f, const float maxVoltage = 8.4f,
const float r1 = 3.f, const float r2 = 2.f, const float k = 2.85f) {
// It's magic. I will return and refactor it.
float pinVoltage = analogReadMilliVolts(_battery_pin) / 1000.f;
// k = (r1 + r2) / r2
float batteryVoltage = pinVoltage * k;
return constrain(_map(batteryVoltage, minVoltage, maxVoltage, 0, 100), 0, 100);
}
private:
uint16_t _battery_pin;
uint16_t _battery_data_switch_pin;
static constexpr const char *_tag = "BatteryController";
static float _map(float x, float in_min, float in_max, float out_min, float out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
};

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include "MPU6050_6Axis_MotionApps20.h"
#include "Preferences.h"
#include "board_pins.h"
#include "esp_log.h"
static volatile bool _isDMPDataReady = false;
static void IRAM_ATTR _dmpInterruption() {
_isDMPDataReady = true;
}
typedef std::function<void()> OnCalibrationFinishedCb;
class MPU {
public:
MPU(MPU6050_6Axis_MotionApps20 *mpu) {
assert(mpu != nullptr);
_mpu = mpu;
}
~MPU() {
delete _mpu;
}
bool initialize() {
_mpu->initialize();
if (!_preferences.begin("imu")) {
ESP_LOGE(_TAG, "Failed to open the preferences!");
} else {
_loadOffsets();
}
delay(250);
if (!_mpu->testConnection()) {
ESP_LOGE(_TAG, "MPU6050 test connection failed!");
return false;
}
_mpu->setDLPFMode(MPU6050_DLPF_BW_10); // 10 Hz bandwidth
//mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_500); // set sensivity, not recommended
//mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8);
if (_mpu->dmpInitialize()) {
ESP_LOGE(_TAG, "Failed to initialize DMP!");
return false;
}
_mpu->setDMPEnabled(true);
attachInterrupt(MPU6050_INT_PIN, _dmpInterruption, RISING);
return true;
}
bool tick(bool &err) {
err = false;
if (!_isDMPDataReady) {
return false;
}
if (!_mpu->dmpGetCurrentFIFOPacket(_fifoBuffer)) {
ESP_LOGE(_TAG, "Failed to get DMP data!");
err = true;
return false;
}
Quaternion q;
VectorFloat gravity;
VectorInt16 accel;
VectorInt16 gyro;
VectorInt16 accelReal;
_mpu->dmpGetQuaternion(&q, _fifoBuffer);
_mpu->dmpGetGravity(&gravity, &q);
_mpu->dmpGetYawPitchRoll(_ypr, &q, &gravity);
_mpu->dmpGetAccel(&accel, _fifoBuffer);
_mpu->dmpGetGyro(&gyro, _fifoBuffer);
_mpu->dmpGetLinearAccel(&accelReal, &accel, &gravity);
_isDMPDataReady = false;
_ax = accel.x / 8192.f;
_ay = accel.y / 8192.f;
_az = accel.z / 8192.f;
_gx = gyro.x / 131.f;
_gy = gyro.y / 131.f;
_gz = gyro.z / 131.f;
_calculateZInertial(gravity);
if (_isCalibration) {
if (_calibrationsIterCounter >= _calibrationIterCount) {
_axOffset /= _calibrationsIterCounter;
_ayOffset /= _calibrationsIterCounter;
_azOffset /= _calibrationsIterCounter;
_gxOffset /= _calibrationsIterCounter;
_gyOffset /= _calibrationsIterCounter;
_gzOffset /= _calibrationsIterCounter;
_prOffset[0] /= _calibrationsIterCounter;
_prOffset[1] /= _calibrationsIterCounter;
_prOffset[0] = DEG_TO_RAD * (180 - RAD_TO_DEG * _prOffset[0]);
_prOffset[1] = DEG_TO_RAD * (180 - RAD_TO_DEG * _prOffset[1]);
ESP_LOGI(_TAG, "Calibration offsets: roll: %f, pitch: %f", RAD_TO_DEG * _prOffset[1],
RAD_TO_DEG * _prOffset[0]);
_isCalibration = false;
_updateOffsets();
_calibrationsIterCounter = 0;
if (_calibrationFinishedCb) {
_calibrationFinishedCb();
}
ESP_LOGI(_TAG, "Calibration finished!");
} else {
_axOffset += _ax;
_ayOffset += _ay;
_azOffset += _az;
_gxOffset += _gx;
_gyOffset += _gy;
_gzOffset += _gz;
_prOffset[0] += pitch() * DEG_TO_RAD;
_prOffset[1] += roll() * DEG_TO_RAD;
_calibrationsIterCounter++;
ESP_LOGI(_TAG, "Angles on calibration: roll: %f, pitch: %f", roll(),
pitch());
}
}
return true;
}
/* getters */
float accZInertial() const {
return _AccZInertial;
}
float yaw() const {
return degrees(_ypr[0]) + 180.f;
}
float pitch() const {
if (_isCalibration) {
return 360.f - (degrees(_ypr[1]) + 180);
} else {
return 360.f - (degrees(_ypr[1]) + 180) + degrees(_prOffset[0]);
}
}
float roll() const {
if (_isCalibration) {
return 360.f - (degrees(_ypr[2]) + 180);
} else {
return 360.f - (degrees(_ypr[2] + _prOffset[1]) + 180) + degrees(_prOffset[1]);
}
}
float ax() const {
if (_isCalibration) {
return _ax;
} else {
return _ax - _axOffset;
}
}
float ay() const {
if (_isCalibration) {
return _ay;
} else {
return _ay - _ayOffset;
}
}
float az() const {
if (_isCalibration) {
return _az;
} else {
return _az - _azOffset;
}
}
float gravityZ() const {
return _gravity;
}
float gx() const {
if (_isCalibration) {
return _gx;
} else {
return _gx - _gxOffset;
}
}
float gy() const {
if (_isCalibration) {
return _gy;
} else {
return _gy - _gyOffset;
}
}
float gz() const {
if (_isCalibration) {
return _gz;
} else {
return _gz - _gzOffset;
}
}
void startCalibration() {
_isCalibration = true;
}
void onCalibrationFinished(OnCalibrationFinishedCb callback) {
_calibrationFinishedCb = callback;
}
private:
MPU6050_6Axis_MotionApps20 *_mpu = nullptr;
float _ypr[3] = {0};
float _ax = 0, _ay = 0, _az = 0;
float _gx = 0, _gy = 0, _gz = 0;
float _gravity = 0;
float _AccZInertial = 0;
float _axOffset = 0, _ayOffset = 0, _azOffset = 0;
float _gxOffset = 0, _gyOffset = 0, _gzOffset = 0;
float _prOffset[2] = {0}; // yaw isn't used
uint8_t _fifoBuffer[45] = {0};
Preferences _preferences;
const char *_TAG = "MPU6050 module";
static constexpr const int _calibrationIterCount = 250;
bool _isCalibration = false;
int _calibrationsIterCounter = 0;
OnCalibrationFinishedCb _calibrationFinishedCb = nullptr;
void _calculateZInertial(VectorFloat &gravity) {
const float anglePitch = _ypr[1];
const float angleRoll = _ypr[2];
_gravity = gravity.z;
_AccZInertial = -sin(anglePitch) * _ax + cos(anglePitch) * sin(angleRoll) * _ay
+ cos(anglePitch) * cos(angleRoll) * _az;
_AccZInertial = (_AccZInertial - 1) * gravity.z * 100.f;
}
void _loadOffsets() {
_axOffset = _preferences.getFloat("ax", 0.f);
_ayOffset = _preferences.getFloat("ax", 0.f);
_azOffset = _preferences.getFloat("az", 0.f);
_gxOffset = _preferences.getFloat("gx", 0.f);
_gyOffset = _preferences.getFloat("gy", 0.f);
_gzOffset = _preferences.getFloat("gz", 0.f);
_prOffset[0] = _preferences.getFloat("pitch", 0.f);
_prOffset[1] = _preferences.getFloat("roll", 0.f);
ESP_LOGI(_TAG, "Offsets loaded: pitch: %f, roll %f", _prOffset[0], _prOffset[1]);
}
void _updateOffsets() {
_preferences.putFloat("ax", _axOffset);
_preferences.putFloat("ay", _ayOffset);
_preferences.putFloat("az", _azOffset);
_preferences.putFloat("gx", _gxOffset);
_preferences.putFloat("gy", _gyOffset);
_preferences.putFloat("gz", _gzOffset);
_preferences.putFloat("pitch", _prOffset[0]);
_preferences.putFloat("roll", _prOffset[1]);
ESP_LOGI(_TAG, "Offsets saved.");
}
};

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src/Sensors/RangingSensor.cpp Executable file
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#include "RangingSensor.hpp"
#include "esp_log.h"
RangingSensor::RangingSensor() {
}
void RangingSensor::startFlight() {
}
void RangingSensor::tick() {
}
uint32_t RangingSensor::getDistance() { return 0; }

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src/Sensors/RangingSensor.hpp Executable file
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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#ifndef HELICOPTER_FIRMWARE_RANGINGSENSOR_H
#define HELICOPTER_FIRMWARE_RANGINGSENSOR_H
#include "Arduino.h"
class RangingSensor {
public:
RangingSensor();
void tick();
void startFlight();
uint32_t getDistance();
};
#endif //HELICOPTER_FIRMWARE_RANGINGSENSOR_H

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src/Sensors/Sensors.cpp Executable file
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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#include "Sensors.hpp"
Sensors::Sensors(Barometer *barometer, RangingSensor *ranging_sensor, MPU *mpu, Kalman2DFilter *filter,
BatteryController *battery, HeightSensor heightSensor) {
assert(barometer != nullptr);
assert(mpu != nullptr);
assert(filter != nullptr);
assert(battery != nullptr);
assert(ranging_sensor != nullptr);
_barometer = barometer;
_mpu = mpu;
_2d_filter = filter;
_battery = battery;
_ranging_sensor = ranging_sensor;
_heightSensor = heightSensor;
ESP_LOGI(_tag, "Initialize BMP280...");
if (_barometer->initialize()) {
ESP_LOGI(_tag, "BMP280 initialized");
} else {
ESP_LOGI(_tag, "BMP280 initialization failed!");
assert(false);
}
ESP_LOGI(_tag, "Initialize MPU6050...");
if (_mpu->initialize()) {
ESP_LOGI(_tag, "MPU6050 initialized");
} else {
ESP_LOGI(_tag, "MPU6050 initialization failed!");
//assert(false);
}
_battery->initialize();
ESP_LOGI(_tag, "BatteryController initialized");
ESP_LOGI(_tag, "Sensors initialized");
}
Sensors::~Sensors() {
delete _barometer;
delete _mpu;
delete _2d_filter;
delete _battery;
delete _ranging_sensor;
}
void Sensors::measureBaseAltitudeSync(void) {
_barometer->measureBaseAltitudeSync();
}
void Sensors::measureBaseAltitudeAsync(void) {
if (_heightSensor == HeightSensor::RangeMeterOnly) {
_ranging_sensor->startFlight();
if (_onMeasuaringAltitudeFinished) {
_onMeasuaringAltitudeFinished();
}
return;
}
_barometer->measureBaseAltitudeAsync();
}
float Sensors::rawFlightHeight(void) const {
/* Returns flight height from barometer immediately */
switch (_heightSensor) {
case HeightSensor::Hybrid:
if (_barometer->flightHeight() >= 200.f) {
return _barometer->flightHeight();
} else {
return (float) _ranging_sensor->getDistance();
}
case HeightSensor::BarometerOnly:
return _barometer->flightHeight();
case HeightSensor::RangeMeterOnly:
return (float) _ranging_sensor->getDistance();
default:
return _barometer->flightHeight();
}
}
float Sensors::flightHeight(void) const {
/* Returns flight height from cache immediately */
return _flightHeightFromBarometer;
}
MpuData Sensors::mpuData() const {
if (_mpuData.ax == 0.f and _mpuData.gravity == 0.f) {
ESP_LOGW(_tag, "MPU data looks like .tick() has never called");
}
return _mpuData;
}
bool Sensors::tick(void) {
/* Super loop iteraion */
/* Return true on update */
_barometer->tick();
_ranging_sensor->tick();
bool err;
bool isMpuDataReady = _mpu->tick(err);
if (isMpuDataReady and !err) {
_2d_filter->filter(_mpu->accZInertial(), _barometer->flightHeight(),
_flightHeightFromBarometer, _zVelocityAltitude);
_zVelocityAltitude = _mpu->accZInertial();
_mpuData = {.ax = _mpu->ax(),
.ay = _mpu->ay(),
.az = _mpu->az(),
.gx = _mpu->gx(),
.gy = _mpu->gy(),
.gz = _mpu->gz(),
.yaw = _mpu->yaw(),
.pitch = _mpu->pitch(),
.roll = _mpu->roll(),
.gravity = _mpu->gravityZ(),
.zInertial = _mpu->accZInertial()};
return true;
} else if (err) {
ESP_LOGE(_tag, "Failed to get DMP data!");
}
return false;
}
int Sensors::batteryCharge(void) const {
return _battery->percent();
}
void Sensors::onMpuCalibrationFinished(OnCalibrationFinishedCb callback) {
_mpu->onCalibrationFinished(callback);
}
void Sensors::startMpuCalibration() {
_mpu->startCalibration();
}
void Sensors::onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback) {
_onMeasuaringAltitudeFinished = callback;
_barometer->onMeasuaringHeightFinished(std::move(callback));
}

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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#include "Barometer.hpp"
#include "BatteryController.hpp"
#include "Filters/Kalman2DFilter.hpp"
#include "RangingSensor.hpp"
#include "MPU.hpp"
#include "esp_log.h"
/* Sensors module provides cached and filtered sensors values */
struct MpuData {
float ax, ay, az;
float gx, gy, gz;
float yaw, pitch, roll;
float gravity;
float zInertial;
};
enum HeightSensor {
RangeMeterOnly,
BarometerOnly,
Hybrid
};
class Sensors {
public:
Sensors(Barometer *barometer, RangingSensor *rangingSensor, MPU *mpu, Kalman2DFilter *filter,
BatteryController *battery, HeightSensor heightSensor = Hybrid);
~Sensors();
void measureBaseAltitudeSync(void);
void measureBaseAltitudeAsync(void);
void onMeasuaringAltitudeFinished(OnMeasuringFinishedCb callback);
float rawFlightHeight(void) const;
float flightHeight(void) const;
void startMpuCalibration();
void onMpuCalibrationFinished(OnCalibrationFinishedCb callback);
MpuData mpuData(void) const;
int batteryCharge(void) const; // [%]
bool tick(void);
private:
Barometer *_barometer = nullptr;
MPU *_mpu = nullptr;
BatteryController *_battery = nullptr;
Kalman2DFilter *_2d_filter = nullptr;
RangingSensor *_ranging_sensor = nullptr;
HeightSensor _heightSensor;
OnMeasuringFinishedCb _onMeasuaringAltitudeFinished = nullptr;
/* cached filtered values */
float _flightHeightFromBarometer = 0.f;
float _zVelocityAltitude = 0.f;
MpuData _mpuData = {0.f};
static constexpr const char *_tag = "Sensors";
};

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src/board_pins.h Executable file
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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#pragma once
#define I2C_SDA_PIN 21
#define I2C_SCL_PIN 18
#define MPU6050_INT_PIN 19
#define BATTERY_ADC_CHANNEL ADC2_CHANNEL_0
#define BATTERY_DATA_PIN 4
#define BATTERY_DATA_SWITCH_PIN 17

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src/main.cpp Executable file
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// This is a personal academic project. Dear PVS-Studio, please check it.
// PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
#include "App.hpp"
#include "BoardI2C.hpp"
#include "Sensors/RangingSensor.hpp"
#include "LPS.h"
BoardI2C i2c;
static Application *app = nullptr;
void setup() {
Serial.begin(115200);
try {
app = new Application(new FlightDispatcher(
new BluetoothDispatcher(new BluetoothSerial(), "Redmi Note 8 Pro"),
new FlightController(
new Sensors(new Barometer(new GyverBME280(i2c)),
new RangingSensor(),
new MPU(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c)),
new Kalman2DFilter(10.f, 1.f, 1.8f),
new BatteryController(BATTERY_DATA_PIN, BATTERY_DATA_SWITCH_PIN),
HeightSensor::BarometerOnly),
new SavedPidRegulator(3.5f, 0.0015f, 0.01f, "HeightControl"), // height
new SavedPidRegulator(2.f, 12.f, 0.f, "YawControl"), // yaw
new BrushedMotor(23, 16, 30000, 0, 10),
new BrushedMotor(26, 27, 30000, 1, 10),
new PIDController(210.f, 15.f, 20.f,
new BrushedMotor(25, 33, 30000, 3, 10),
"PitchControl"), // pitch
true)));
} catch (std::bad_alloc &e) {
ESP_LOGI("Main", "Failed to allocate memory: %s", e.what());
}
}
void loop() {
app->tick();
}

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test/README Executable file
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This directory is intended for PlatformIO Test Runner and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html