00c97bd902
feat(rc): CRSF/ELRS RC integration — telemetry uplink + channel fix (Issue #103 )
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## Summary
- config.h: CH1[0]=steer, CH2[1]=throttle (was CH4/CH3); CRSF_FAILSAFE_MS→500ms
- include/battery.h + src/battery.c: ADC3 Vbat reading on PC1 (11:1 divider)
battery_read_mv(), battery_estimate_pct() for 3S/4S auto-detection
- include/crsf.h + src/crsf.c: CRSF telemetry TX uplink
crsf_send_battery() — type 0x08, voltage/current/SoC to ELRS TX module
crsf_send_flight_mode() — type 0x21, "ARMED\0"/"DISARM\0" for handset OSD
- src/main.c: battery_init() after crsf_init(); 1Hz telemetry tick calls
crsf_send_battery(vbat_mv, 0, soc_pct) + crsf_send_flight_mode(armed)
- test/test_crsf_frames.py: 28 pytest tests — CRC8-DVB-S2, battery frame
layout/encoding, flight-mode frame, battery_estimate_pct SoC math
Existing (already complete from crsf-elrs branch):
CRSF frame decoder UART4 420000 baud DMA circular + IDLE interrupt
Mode manager: RC↔autonomous blend, CH6 3-pos switch, 500ms smooth transition
Failsafe in main.c: disarm if crsf_state.last_rx_ms stale > CRSF_FAILSAFE_MS
CH5 arm switch with ARMING_HOLD_MS interlock + edge detection
RC override: mode_manager blends steer/speed per mode (CH6)
Closes #103
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-02 08:35:39 -05:00
fbfde24aba
feat: CRSF/ELRS RC integration — 16ch input with failsafe (#Phase2)
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Protocol choice: implemented from spec (CRSFforArduino needs Arduino
framework; Betaflight extraction has deep scheduler dependencies).
Protocol verified against Betaflight src/main/rx/crsf.c + CRSF spec.
crsf.c:
- UART4 PA0=TX/PA1=RX (GPIO_AF8_UART4), 420000 baud 8N1, oversampling×8
APB1=54MHz → BRR=0x101 → 418604 baud (0.33% error, within spec)
- DMA1 Stream2 Channel4, circular 64-byte buffer, IDLE interrupt
DMA half/complete callbacks drain buffer; IDLE fires at frame boundary
- CRC8 DVB-S2 (polynomial 0xD5) validated on every frame
- Parser state machine: SYNC(0xC8)→LEN→DATA with length sanity check
- 11-bit channel unpack for all 16 channels from 22-byte payload
- RC channels frame (0x16): unpacks 16ch, updates last_rx_ms + armed
- Link stats frame (0x14): captures RSSI dBm, LQ%, SNR dB
crsf.h: added rssi_dbm, link_quality, snr fields to CRSFState
config.h: CRSF_ARM_THRESHOLD=1750, CRSF_STEER_MAX=400, CRSF_FAILSAFE_MS=300
main.c:
- crsf_init() called after motor_driver_init()
- RC failsafe: disarm if (now - last_rx_ms) > CRSF_FAILSAFE_MS, but only
after RC was first seen (last_rx_ms != 0) — USB-only mode unaffected
- RC arm: CH5 rising edge → safety_arm_start(); falling edge → disarm
Same ARMING_HOLD_MS interlock as USB arm command
- RC steer: CH1 → crsf_to_range() → ±CRSF_STEER_MAX → motor_driver steer
- RSSI/LQ: appended to JSON when safety_rc_alive() ("rssi","lq" fields)
ui/index.html: hidden RC RSSI row revealed on first packet with rssi/lq
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 21:54:58 -05:00
ea5e2dac72
feat: RC/autonomous mode manager with smooth handoff
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Adds mode_manager.c/h: three operating modes selected by RC CH6 (3-pos
switch), smoothly interpolated over ~500ms to prevent jerky transitions.
Modes:
RC_MANUAL (blend=0.0) — RC CH4 steer + CH3 speed bias; balance PID active
RC_ASSISTED (blend=0.5) — 50/50 blend of RC and Jetson autonomous commands
AUTONOMOUS (blend=1.0) — Jetson steer only; RC CH5 still kills motors
Key design:
- Single `blend` float (0=RC, 1=auto) drives all lerp; MANUAL→AUTO takes
500ms, adjacent steps take ~250ms
- CH6 thresholds: <=600=MANUAL, >=1200=AUTONOMOUS, else ASSISTED
- CH4/CH3 read with ±30-count deadband around CRSF center (992)
- RC speed bias (CH3, ±300 counts) added to bal.motor_cmd AFTER PID
- RC CH5 kill: if rc_alive && !crsf_state.armed → disarm, regardless of mode
- Jetson steer fed via mode_manager_set_auto_cmd() → blended in get_steer()
- Telemetry: new "md" field (0/1/2) in USB JSON stream
- mode_manager_set_auto_cmd() API ready for Jetson serial bridge integration
config.h: CRSF channel indices, deadband, speed-bias max, blend timing.
Safe on USB-only build: CRSF stub keeps last_rx_ms=0 → rc_alive=false
→ RC inputs = 0, mode stays RC_MANUAL, CH5 kill never fires.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 21:06:26 -05:00
1c95243e52
feat: gyro bias calibration on boot — fixes yaw drift (issues #21 , #23 )
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On boot, before the main loop, sample 1000 gyro readings (~1s) while
board is held still. Compute per-axis mean offset (sensor-frame raw LSBs)
and subtract from all subsequent readings in mpu6000_read().
- mpu6000_calibrate(): LED1+LED2 solid ON during 1s sample window,
resets filter state to zero once bias is known
- mpu6000_is_calibrated(): gate; main loop blocks arming and USB
streaming until calibration completes
- Bias subtracted in sensor frame before CW270 axis transform + scale,
so all three axes (pitch/roll/yaw rate) benefit
- config.h: GYRO_CAL_SAMPLES=1000
- No flash storage — recalibrate fresh each boot (bias varies with temp)
Closes #21 (3.5°/s yaw drift), #23 (gyro bias calibration on boot).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 17:42:34 -05:00
80a41e5008
feat: motor driver layer — differential drive, steer ramp, estop
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Adds motor_driver.c/h between the balance PID and the raw
hoverboard UART driver:
- Differential drive: balance_cmd → speed, steer_cmd → steer
- Steer-only ramping at MOTOR_STEER_RAMP_RATE (balance PID keeps
full immediate authority — no ramp on speed channel)
- Headroom clamp: reduces steer so |speed|+|steer|<=MOTOR_CMD_MAX
ensuring ESC never clips the balance command
- Emergency stop: latches on TILT_FAULT, clears on BALANCE_DISARMED;
send path stays in 50Hz ESC tick to avoid flooding UART
main.c: replace bare hoverboard_send() with motor_driver_update();
config.h: MOTOR_CMD_MAX=1000, MOTOR_STEER_RAMP_RATE=20 counts/ms
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 17:15:40 -05:00
Sebastien Vayrette
ba3e1161b9
Balance firmware + USB CDC bug
2026-02-28 11:58:23 -05:00
