Commits included in published releases. Unpublished intermediate commits are private. Showing matches from the latest 100 commits ending at this release.
Use Serial1 for sbus on all platforms
Oleg Kalachev · May 9, 2026, 10:17 PM UTC
fa848e589ea2
Use Serial1 for for rc on esp32-c3
Oleg Kalachev · May 9, 2026, 4:25 PM UTC
bcacad7ff8a5
Add esp32-c3 build to ci
Oleg Kalachev · Jan 23, 2026, 12:04 AM UTC
3e5968881866
Rename some wifi parameters for better alphabetical sort
Oleg Kalachev · May 9, 2026, 2:55 PM UTC
b62f2f9427bf
Add Ina Tix' build
Oleg Kalachev · May 9, 2026, 2:49 PM UTC
7dfef171653a
Simplify port definition in Makefile
Oleg Kalachev · May 9, 2026, 2:14 PM UTC
8c8046676b16
Some updates in troubleshooting article
Oleg Kalachev · May 9, 2026, 12:57 PM UTC
702ec9792e04
Make motor testing signal 0.2 instead of full power Testing with full power is too dangerous and inconvenient.
Oleg Kalachev · May 7, 2026, 9:53 PM UTC
06e20470978c
Fix motors pwm frequency for esp32s3 etc in the docs
Oleg Kalachev · May 7, 2026, 9:47 PM UTC
87480476c2c0
Print firmware build date and time in sys command
Oleg Kalachev · May 7, 2026, 9:31 PM UTC
68271c508c67
Some updates to docs
Oleg Kalachev · May 7, 2026, 5:15 PM UTC
e81e84e7fc00
Fix imu rotation definition The X axis should be pointing to the mounting holes, not pins side.
Oleg Kalachev · May 7, 2026, 4:54 PM UTC
5f1a938d4f1c
Reduce angle drift by adding level correction to the estimator Leverage a priori knowledge that the drone's average attitude is level. Explanation: https://t.me/opensourcequadcopter/158.
Oleg Kalachev · May 5, 2026, 6:27 PM UTC
bd270db4930e
Expose lpf alpha of rate pids to parameters Add parameters: CTL_R_RATE_D_A, CTL_P_RATE_D_A, CTL_Y_RATE_D_A.
Oleg Kalachev · May 3, 2026, 12:04 PM UTC
dbf24ea61173
Some updates in the usage doc
Oleg Kalachev · May 1, 2026, 12:26 PM UTC
08683d696d66
Exit auto mode when sticks moved only when mode switch is not configured
Oleg Kalachev · Apr 29, 2026, 12:07 PM UTC
9ca68415589a
Fix in pyflix documentation pyflix@0.14
Oleg Kalachev · Apr 28, 2026, 5:46 PM UTC
28da2d3c8ed2
Add info on setting flight modes using rc mode switch
Oleg Kalachev · Apr 28, 2026, 5:43 PM UTC
c6632ae6e4ba
Fix Vector::rotationVectorBetween implementation for parallel vectors
Oleg Kalachev · Apr 28, 2026, 12:38 PM UTC
35ca754583df
Implement motors output desaturation So the drone continues stabilization on max thrust.
Oleg Kalachev · Apr 28, 2026, 10:23 AM UTC
2ccda03573e6
Disable wi-fi power save to improve responsiveness
Oleg Kalachev · Apr 27, 2026, 1:46 PM UTC
485a39e74083
Some fixes in docs
Oleg Kalachev · Apr 26, 2026, 3:05 AM UTC
9bffe5b52f21
Pass acc data in mG in SCALED_IMU to comply with mavlink standard https://mavlink.io/en/messages/common.html#SCALED_IMU pyflix@0.13
Oleg Kalachev · Apr 24, 2026, 4:42 AM UTC
d6a79d6c6621
Minor fix
Oleg Kalachev · Apr 23, 2026, 12:34 PM UTC
350a82bfed09
Move disabling brown-out code to power subsystem
Oleg Kalachev · Apr 23, 2026, 12:06 PM UTC
6e439859bc78
Minor fix in sys command String works with printf %s, but actually it's a UB.
Oleg Kalachev · Apr 23, 2026, 4:25 AM UTC
835b2243e8ec
Fix imu command output Gyro field contained filtered gyro instead of scaled only gyro.
Oleg Kalachev · Apr 23, 2026, 4:12 AM UTC
ed4e2d87d11e
Implement battery voltage monitoring Add power subsystem. Add PWR_VOLT_PIN, PWR_VOLT_SCALE, PWR_VOLT_LPF_A parameters. Support BATTERY_STATUS mavlink messages streaming. Add pw cli command. Add voltage field to pyflix library. pyflix@0.12.
Oleg Kalachev · Apr 22, 2026, 8:35 AM UTC
51cd5fc691ba
Fix working with parameters in pyflix examples PITCH_P parameter was renamed to CTL_P_P
Oleg Kalachev · Apr 18, 2026, 2:23 AM UTC
d8591ea2a9e0
Add parameter for configuring sbus pin number, disable sbus by default
Oleg Kalachev · Mar 26, 2026, 9:56 PM UTC
c434107eaf55
Minor docs change
Oleg Kalachev · Mar 26, 2026, 9:40 PM UTC
814427dbfdcb
Add new user builds
Oleg Kalachev · Feb 21, 2026, 4:12 AM UTC
0730ceeffa58
Make motor parameters apply without reboot Add callback to parameter definition to call after parameter is changed.
Oleg Kalachev · Feb 19, 2026, 1:56 AM UTC
a687303062d7
Minor parameters code simplifications readOnly is false by default INFINITY == INFINITY, so remove redundant check
Oleg Kalachev · Feb 18, 2026, 11:59 PM UTC
b2daf2587f35
Minor updates to usage article
Oleg Kalachev · Feb 4, 2026, 2:52 PM UTC
a8c25d8ac002
Make rc channel numbers and calibration params use int instead of float As parameter subsystems supports int now, and int is much more natural here.
Oleg Kalachev · Feb 2, 2026, 5:36 PM UTC
3e49d4198647
Several minor changes
Oleg Kalachev · Feb 2, 2026, 3:46 PM UTC
67430c7aac8f
Drop messages from another systems in pyflix We shouldn't pass messages where system id != our system id. This change may be useful when there are many drones in one network.
Oleg Kalachev · Feb 2, 2026, 3:28 PM UTC
3631743a29a5
Add parameters for list of modes bound to rc switch Parameters: CTL_FLT_MODE_0, CTL_FLT_MODE_1, CTL_FLT_MODE_2. Also fix a bug with incorrect choosing the mode from controlMode.
Oleg Kalachev · Jan 27, 2026, 1:38 PM UTC
3dde380bb7ee
Fix error when launching the sim Also make the parameters WIFI_LOC_PORT and WIFI_REM_PORT work in the sim.
Oleg Kalachev · Jan 27, 2026, 1:32 PM UTC
377b21429bec
Add a build by Arky Matsekh
Oleg Kalachev · Jan 27, 2026, 12:17 PM UTC
1ac443d6f8c5
Make setting parameter in console printing actual parameter value. In some cases, it would not be equal to the requested value.
Oleg Kalachev · Jan 27, 2026, 6:28 AM UTC
964c0f7bc1e9
Make motor subsystem configurable using parameters Motor pins: MOT_PIN_FL, MOT_PIN_FR, MOT_PIN_RL, MOT_PIN_RR. PWM configuration: MOT_PWM_FREQ, MOT_PWM_RES, MOT_PWM_STOP, MOT_PWM_MIN, MOT_PWM_MAX. MOT_PWM_MAX = -1 chooses duty cycle mode for brushed motors (default).
Oleg Kalachev · Jan 27, 2026, 5:40 AM UTC
40bdaacedb95
Minor docs fixes
Oleg Kalachev · Jan 27, 2026, 4:21 AM UTC
7d74f3d5cdf1
Simplify lpf filter code Begin with zero instead of the initializing value, as the latter doesn't make much sense in practice, but complicates the code much.
Oleg Kalachev · Jan 24, 2026, 6:43 AM UTC
9fd35ba3611e
Various minor fixes
Oleg Kalachev · Jan 24, 2026, 6:34 AM UTC
ca50f7557660
Fix mavlink parameter set acknowledgement value If the parameter is integer the acknowledgement should contain the rounded value.
Oleg Kalachev · Jan 24, 2026, 6:32 AM UTC
e47a31f9816c
Add parameter for configuring gyro bias lpf + reset the filter on `reset` command
Oleg Kalachev · Jan 24, 2026, 6:31 AM UTC
7ad302279898
Update ESP32-Core to 3.3.6
Oleg Kalachev · Jan 22, 2026, 11:41 PM UTC
5b654e4d8e72
Update MAVLink-Arduino to 2.0.16
Oleg Kalachev · Jan 22, 2026, 10:11 PM UTC
cf10ec6161d4
Make failsafe configurable using parameters SF_RC_LOSS_TIME - time without rc to activate failsafe. SD_DESCEND_TIME - total time to decrease the throttle to zero. Make controlTime nan on the start to simplify the logic.
Oleg Kalachev · Jan 22, 2026, 8:57 PM UTC
6d01cd2e7918
Make parameter names case-insensitive + minor fix
Oleg Kalachev · Jan 22, 2026, 8:11 PM UTC
0abb18c6169f
Add parameters for configuring the mavlink subsystem MAV_SYS_ID - mavlink system id. MAV_RATE_SLOW - rate of slow telemetry (e. g. heartbeats). MAV_RATE_FAST - rate of fast telemetry (e. g. attitude, imu data).
Oleg Kalachev · Jan 22, 2026, 8:04 PM UTC
30326a56628b
Add wifi configuration using parameters and cli Add console commands to setup wifi. Add a parameter for choosing between STA and AP mode. Add parameters for udp ports. Remove WIFI_ENABLED macro.
Oleg Kalachev · Jan 22, 2026, 7:58 PM UTC
dd3575174b51
Support integer parameters in addition to floats The variable pointer is stored as a union field. If `.integer` field is true, then integer pointer should be used. Interfaces to parameters (cli and mavlink) keep working using floats. Setting a non-finite value to int parameter will cause an error. `.value` field is renamed to `.cache`.
Oleg Kalachev · Jan 22, 2026, 7:54 PM UTC
c0f3301da42f
Add log dir creation before log writing
a.golubtsov · Jan 22, 2026, 7:49 AM UTC
a6bad3a69b14
Add correct attitude estimation video to the usage article
Oleg Kalachev · Jan 15, 2026, 8:46 PM UTC
9a9bd07251db
Re-arrange control.ino declarations to make a bit more sensible So the control command is above the PID controllers.
Oleg Kalachev · Jan 13, 2026, 2:43 PM UTC
28f5855a57ef
Documentation and book updates Improve the main list of features. Use lowercase imu variable for consistency with the firmware code. Minor fixes.
Oleg Kalachev · Jan 13, 2026, 2:26 PM UTC
7e24ee30f734
Fix logo svg slightly
Oleg Kalachev · Jan 8, 2026, 4:45 PM UTC
2a8faf57590d
Add project logo
Oleg Kalachev · Jan 8, 2026, 2:58 PM UTC
f4e58a652a4c
Minor doc fixes
Oleg Kalachev · Jan 4, 2026, 12:01 PM UTC
6c46328da1dd
Move all global variable declarations to the appropriate subsystems As it makes the subsystems code easier to understand. Declare the most used variables in main sketch file as forward declarations. Make all control input zero by default (except controlMode). Minor changes.
Oleg Kalachev · Jan 3, 2026, 10:28 AM UTC
c8e5e08b03b2
Some updates to the docs
Oleg Kalachev · Jan 3, 2026, 9:18 AM UTC
a5e3dfcf695d
Add parameters for easier IMU orientation definition
Oleg Kalachev · Dec 26, 2025, 6:14 PM UTC
d6e8be0c053a
Add motors rotation diagram to usage article
Oleg Kalachev · Dec 25, 2025, 4:22 AM UTC
68d16855df79
Add parameters for acc weight and rates lpf alpha
Oleg Kalachev · Dec 24, 2025, 2:43 AM UTC
0547ea548bf1
Rename gyroCalibrationFilter to gyroBiasFilter Which seems a better name
Oleg Kalachev · Dec 24, 2025, 2:36 AM UTC
c02dba6812ba
Updates to user builds article
Oleg Kalachev · Dec 16, 2025, 11:21 PM UTC
f1dc4a040078
Add new user builds, add school 548 course overview + minor doc fixes.
Oleg Kalachev · Dec 13, 2025, 6:09 PM UTC
158827ac5551
Minor docs fix
Oleg Kalachev · Nov 27, 2025, 3:34 PM UTC
36ca30c3e432
Add tip about CNT_TILT_MAX parameter to the simulator article
Oleg Kalachev · Nov 26, 2025, 2:34 PM UTC
48711b55e191
Rename manual mode to raw mode Make it callable from the console. Increase the coefficient. Corresponding change in pyflix. pyflix@0.11.
Oleg Kalachev · Nov 25, 2025, 1:44 AM UTC
4d583185a988
Move yaw dead zone handling from mavlink to control subsystem So yaw dead zone works the same for rc and mavlink.
Oleg Kalachev · Nov 22, 2025, 2:11 AM UTC
d757ffa8530b
Minor updates to pyflix library, pyflix@0.10 Fixes to documentation. Improve logger format.
Oleg Kalachev · Nov 22, 2025, 2:07 AM UTC
5352386486fd
Add wifi cli command To show wi-fi info.
Oleg Kalachev · Nov 22, 2025, 1:46 AM UTC
9b5872740f46
Group control parameters Also add IMU group to accelerometer calibration parameters.
Oleg Kalachev · Nov 18, 2025, 10:30 PM UTC
31dbdaf24152
Remove unneeded SERIAL_BAUDRATE define
Oleg Kalachev · Nov 14, 2025, 10:46 AM UTC
f4b56262b12e
Refactor Wi-Fi log download Use MAVLink LOG_REQUEST_DATA and LOG_DATA for download log instead of console. Make Wi-Fi download default way of downloading the log. Make `log` command only print the header and `log dump` dump the log.
Oleg Kalachev · Nov 14, 2025, 5:21 PM UTC
49039f752dc5
Updates in documentation Fixes, updates, new illustrations.
Oleg Kalachev · Nov 10, 2025, 5:13 PM UTC
348721acc9eb
Many updates to documentation Updates to main readme. Add much more info to usage article. Move simulator building to simulation's readme. Improve assembly article. Many fixes. Updates in diagrams.
Oleg Kalachev · Nov 6, 2025, 10:46 AM UTC
774144c43039
Add Rate class for running the code at fixed rate
Oleg Kalachev · Nov 6, 2025, 10:41 AM UTC
0e6651ab8258
Keep only one floating point version of map function Two variants are redundant
Oleg Kalachev · Nov 1, 2025, 8:55 PM UTC
1a017ccb9715
Simplify command for command handling
Oleg Kalachev · Oct 21, 2025, 4:31 PM UTC
7170b20d1d8f
Minor code fixes
Oleg Kalachev · Oct 21, 2025, 4:32 PM UTC
dc9aed113be1
Fixes to troubleshooting
Oleg Kalachev · Oct 21, 2025, 4:22 PM UTC
08b6123eb795
Send only mavlink heartbeats until connected
Oleg Kalachev · Oct 3, 2025, 4:08 AM UTC
1a8b63ee043d
Skip attitude/rate control if thrustTarget is ineffective To prevent i term windup.
Oleg Kalachev · Oct 20, 2025, 8:01 PM UTC
8c49a40516ad
Refactor PID control to simplify the code and modifications Each PID uses its internal dt, so may be various contexts with different rate. PID has max dt, so no need to reset explicitly.
Oleg Kalachev · Oct 20, 2025, 7:54 PM UTC
ca595edce5e8
Quaternion::fromBetweenVectors: pass u and v as const references (#21)
KiraFlux · Oct 19, 2025, 7:17 AM UTC
d06eb2a1aa5b
Revert t variable type to float instead of double For the sake of simplicity and consistency.
Oleg Kalachev · Oct 18, 2025, 9:28 AM UTC
e50a9d5fead4
Minor change
Oleg Kalachev · Oct 17, 2025, 4:22 PM UTC
ebac78dc0f53
Add generic Delay filter
Oleg Kalachev · Oct 17, 2025, 4:19 PM UTC
186cf88d84ed
Lowercase imu and rc variables To make it more obvious these are variables, not classes.
Oleg Kalachev · Oct 17, 2025, 4:02 PM UTC
253aae222056
Rename failsafe.ino to safety.ino To aggregate all the safety related functionality.
Oleg Kalachev · Oct 16, 2025, 10:09 PM UTC
6f0964fac414
Add ESP32-S3 build to Actions
Oleg Kalachev · Oct 14, 2025, 1:56 PM UTC
1d034f268d22
Update VSCode settings Disable error squiggles as they often work incorrectly. Decrease number of include libraries to index.
Oleg Kalachev · Oct 14, 2025, 8:31 AM UTC
1ca7d32862f7
Fix Gazebo installation Installation script is deprecated, install using package on Ubuntu 20.04
Oleg Kalachev · Oct 13, 2025, 3:33 PM UTC
ab941e34fa5d
Improve rc failsafe logic Don't trigger failsafe if there's no RC at all Use AUTO mode for descending, instead of STAB Increase RC loss timeout and descend time
Oleg Kalachev · Oct 12, 2025, 6:20 PM UTC
7bee3d1751f4
Disarm the drone on simulator plugin reset In order to reset yaw target.