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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

Ubuntu

  1. Install Arduino CLI:

    curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh

  2. 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

  3. Install SDL2 and other dependencies:

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

  4. Add your user to the input group to enable joystick support (you need to re-login after this command):

    sudo usermod -a -G input $USER

  5. Run the simulation:

    make simulator

macOS

  1. 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)"

  2. Install Arduino CLI, Gazebo 11 and SDL2:

    brew tap osrf/simulation
brew install arduino-cli
brew install gazebo11
brew install sdl2

    Set up your Gazebo environment variables:

    echo "source /opt/homebrew/share/gazebo/setup.sh" >> ~/.zshrc
source ~/.zshrc

  3. Run the simulation:

    make simulator

Flight

Use USB remote control or QGroundControl mobile app (with Virtual Joystick setting enabled) to control the drone. Auto-Center Throttle setting should be disabled.

Firmware

Arduino IDE (Windows, Linux, macOS)

  1. Install Arduino IDE (version 2 is recommended).
  2. Install ESP32 core using Boards Manager.
  3. Install the following libraries using Library Manager:
    • FlixPeriph.
    • MAVLink, version 2.0.1.
  4. Clone the project using git or download the source code as a ZIP archive.
  5. Open the downloaded Arduino sketch flix/flix.ino in Arduino IDE.
  6. Build and upload the firmware using Arduino IDE.

Command line (Windows, Linux, macOS)

  1. Install Arduino CLI.

  2. Windows users might need to install USB to UART bridge driver from Silicon Labs.

  3. 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.

Firmware code structure

See firmware overview for more details.

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).