okalachev

#!/usr/bin/env python3

import time
from pyflix import Flix
import math

flix = Flix()

print('Connected:', flix.connected)
print('Mode:', flix.mode)

okalachev

okalachev

/* ... */

void readIMU() {
	IMU.waitForData();
	IMU.getGyro(gyro.x, gyro.y, gyro.z);
	IMU.getAccel(acc.x, acc.y, acc.z);
	// apply scale and bias
	acc = (acc - accBias) / accScale;
	gyro = gyro - gyroBias;
	// rotate to FRD

okalachev

// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix

// Motors output control
// Motor: 8520 3.7V
// ESC: KINGDUO Micro Mini 4A 1S Brushed Esc 3.6-6V

#define MOTOR_0_PIN 12 // rear left
#define MOTOR_1_PIN 13 // rear right
#define MOTOR_2_PIN 14 // front right

okalachev

// Upside down flight control

#define DO_FLIP 0

void controlUpsideDown() {
	float modeWas = controls[RC_CHANNEL_MODE];
	controls[RC_CHANNEL_MODE] = 0; // base on STAB mode
	interpretRC();
	controls[RC_CHANNEL_MODE] = modeWas;
	mode = USER; // restore mode

okalachev

// Copyright (c) 2024 Oleg Kalachev <okalachev@gmail.com>

// Flip controller for the Flix drone https://github.com/okalachev/flix
// Video and details: https://t.me/opensourcequadcopter/21

#define BOUNCE_TIME 0.6
#define ACCELERATE_TIME 0.07
#define BRAKE_TIME ACCELERATE_TIME

enum {

okalachev

#!/usr/bin/env python3

# Read and parse USB data from KingKong/LDARC Tiny X8 2.4G 8CH Radio Transmitter

# Usage: ./tiny_rc.py <device_path>
# Example: ./tiny_rc.py /dev/tty.usbserial-210

# Author: Oleg Kalachev <okalachev@gmail.com>
# https://github.com/okalachev

okalachev

#!/usr/bin/env python3

import rospy
from geometry_msgs.msg import PoseStamped
from gazebo_msgs.msg import LinkStates, ModelStates

rospy.init_node('groundtruth_pose')

pose_pub = rospy.Publisher('groundtruth', PoseStamped, queue_size=1)
# uncomment to loop groundtruth pose to vision pose input:

okalachev

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

"""MAVLink Monitor
Monitor MAVLink packages from a serial port, UDP, or TCP link.
Usage:
  mavlink_monitor.py [--dialect=<dialect>] [-b] <url>
  mavlink_monitor.py (-h | --help)
Options:
  --dialect=<dialect>  MAVLink dialect [default: common]

okalachev

import requests

r = requests.get('http://192.168.11.136:5000', params={'foo': 123})

print(r.text)