qqqlab / madflight Goto Github PK

I modified the print_ I2c_ Scan() section code ，I modified the I2C PINS and now I can find the I2C device. So now I can confirm that the software is not working properly
void print_i2c_scan() {
//Serial.printf("I2C: Scanning ...\n");
// byte count = 0;
//i2c->begin();
//for (byte i = 8; i < 120; i++) {
// i2c->beginTransmission(i); // Begin I2C transmission Address (i)
// if (i2c->endTransmission() == 0) { // Receive 0 = success (ACK response)
// Serial.printf("I2C: Found address: 0x%02X (%d)\n",i,i);
// count++;
// }
//}
//Serial.printf("I2C: Found %d device(s)\n", count);
byte error, address;
int nDevices;

Serial.println("Scanning...");

nDevices = 0;
for(address = 1; address < 127; address++ )
{
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
WIRE.beginTransmission(address);
error = WIRE.endTransmission();

if (error == 0)
{
  Serial.print("I2C device found at address 0x");
  if (address<16)
    Serial.print("0");
  Serial.print(address,HEX);
  Serial.println("  !");

  nDevices++;
}
else if (error==4)
{
  Serial.print("Unknown error at address 0x");
  if (address<16)
    Serial.print("0");
  Serial.println(address,HEX);
}

}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");

}
madflight starting 5 ...
madflight starting 4 ...
madflight starting 3 ...
madflight starting 2 ...
madflight starting 1 ...
USE_HW_ESP32
I2C: SDA=21 SCL=22
SPI: MOSI=23 MISO=19 SCLK=18 CS=15
Scanning...
I2C device found at address 0x68 !
done

USE_RX_PPM pin=35
USE_IMU_MPU6050_I2C
E (4065) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=48
E (4066) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=97
E (4077) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=195
E (4089) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=48
E (4100) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=97
E (4111) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=195
E (4123) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=48
E (4134) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=97
E (4145) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=195
E (4157) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=48
E (4168) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=97
E (4180) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=195
float AccErrorX = +0.000061;
float AccErrorY = +0.000061;
float AccErrorZ = -1.000061;
float GyroErrorX = -0.007634;
float GyroErrorY = -0.007634;
float GyroErrorZ = +0.007634;
Paste these values in user specified variables section and comment out calculate_IMU_error() in void setup.
ahrs_Setup() No Magnetometer
ahrs_Setup() Estimated yaw:-0.00
gx:+0.00 gy:+0.00 gz:-0.00 ax:+0.00 ay:+0.00 az:-0.00 mx:+0.00 my:+0.00 mz:+0.00 roll:+0.0 pitch:-0.0 yaw:-0.0 yaw_mag:-0.0 imu_err_cnt:0
gx:+0.00 gy:+0.00 gz:-0.00 ax:+0.00 ay:+0.00 az:-0.00 mx:+0.00

I installed the madflight library in Arduino IDE 2.3.2 and tried to compile the Quadcopter example for RP2040. This is the error message:

In file included from C:\Users\instalador\Documents\Arduino\libraries\madflight\src/madflight_board_default_RP2040.h:56:0,
                 from C:\Users\instalador\Documents\Arduino\libraries\madflight\src/madflight/hw_RP2040/hw_RP2040.h:18,
                 from C:\Users\instalador\Documents\Arduino\libraries\madflight\src/madflight.h:35,
                 from C:\Users\instalador\AppData\Local\Temp\.arduinoIDE-unsaved2024329-20448-q43dyj.jlxdh\Quadcopter\Quadcopter.ino:198:
C:\Users\instalador\AppData\Local\Arduino15\packages\arduino\hardware\mbed_rp2040\4.1.1\cores\arduino/mbed/targets/TARGET_RASPBERRYPI/TARGET_RP2040/pico-sdk/common/pico_stdlib/include/pico/stdlib.h:11:10: fatal error: pico/stdio.h: No such file or directory
 #include "pico/stdio.h"
          ^~~~~~~~~~~~~~
compilation terminated.
exit status 1

Compilation error: exit status 1

libraries\madflight\src\madflight/hw_ESP32/ESP32_PWM.h:65:20: error: 'ledcSetup' was not declared in this scope; did you mean 'ledc_stop'?
   65 |         act_freq = ledcSetup(ch, freq, bits);
      |                    ^~~~~~~~~
      |                    ledc_stop
libraries\madflight\src\madflight/hw_ESP32/ESP32_PWM.h:72:7: error: 'ledcAttachPin' was not declared in this scope; did you mean 'ledcAttach'?
   72 |       ledcAttachPin(pin, ch);
      |       ^~~~~~~~~~~~~
      |       ledcAttach

How do I fix it? I tried changing both of them to the suggested but error worsens.
Thank you

Hello!
this project is fantastic and I am very interested in it! I tried using RP2040 and ESP32 to test your code, but couldn't recognize MPU6050
I tested MPU6050 using other code and the hardware is working properly
I only connected to MPU6050, I did not connect to RC receiver
//========================================================================================================================//
// INCLUDES //
//========================================================================================================================//
//include hardware specific code
#if defined ARDUINO_ARCH_ESP32
#include "hw_ESP32.h"
#elif defined ARDUINO_ARCH_RP2040
#include "hw_RP2040.h"
#include <FreeRTOS.h> //FreeRTOS
#include <semphr.h> //FreeRTOS
#else
#error "Unknown hardware architecture"
#endif

#include "ahrs.h"

//========================================================================================================================//
// USER-SPECIFIED DEFINES //
//========================================================================================================================//

//-------------------------------------
// APPLICATION SETTINGS
//-------------------------------------
#define USE_IMU_INTERRUPT //Uncomment to use interrupt pin and not loop() to trigger loop_imu()

//-------------------------------------
// RC RECEIVER
//-------------------------------------
//Uncomment only one receiver type
#define USE_RCIN_PPM
//#define USE_RCIN_PWM
//#define USE_RCIN_SBUS
//#define USE_RCIN_DSM
#include "src/RCIN/RCIN.h" //first define USE_RCIN_xxx then include RCIN.h

//-------------------------------------
// IMU SENSOR
//-------------------------------------
//Uncomment only one IMU
#define USE_IMU_MPU6050_I2C //acc/gyro
//#define USE_IMU_MPU9150_I2C //acc/gyro/mag
//#define USE_IMU_MPU6500_I2C //acc/gyro Note: SPI interface is faster
//#define USE_IMU_MPU9250_I2C //acc/gyro/mag Note: SPI interface is faster
//#define USE_IMU_MPU6500_SPI //acc/gyro
//#define USE_IMU_MPU9250_SPI //acc/gyro/mag

//Uncomment one I2C address. If unknown, see output of print_i2c_scan()
#define IMU_I2C_ADR 0x68 //MPU9250
//#define IMU_I2C_ADR 0x77 //MPU9150

//Full scale gyro range in deg/sec. Most IMUs support 250,500,1000,2000. Can use any value here, driver will pick next greater setting.
#define IMU_GYRO_DPS 250

//Full scale gyro accelerometer in G's. Most IMUs support 2,4,8,16. Can use any value here, driver will pick next greater setting.
#define IMU_ACCEL_G 2

//Uncomment only one sensor orientation. The labels is yaw / roll (in that order) needed to rotate the sensor from it's normal position to it's mounted position.
//if not sure what is needed: try each setting until roll-right gives positive ahrs_roll, pitch-up gives positive ahrs_pitch, and yaw-right gives increasing ahrs_yaw
//#define IMU_ROTATE_NONE
#define IMU_ROTATE_YAW90
//#define IMU_ROTATE_YAW180
//#define IMU_ROTATE_YAW270
//#define IMU_ROTATE_ROLL180
//#define IMU_ROTATE_YAW90_ROLL180
//#define IMU_ROTATE_YAW180_ROLL180
//#define IMU_ROTATE_YAW270_ROLL180
#include "src/IMU/IMU.h" //first define IMU_xxx then include IMO.h

The serial port outputs the following information

madflight starting 5 ...
madflight starting 4 ...
madflight starting 3 ...
madflight starting 2 ...
madflight starting 1 ...
USE_HW_ESP32
I2C: SDA=23 SCL=22
SPI: MOSI=21 MISO=36 SCLK=19 CS=18
I2C: Scanning ...
I2C: Found address: 0x08 (8)
I2C: Found address: 0x09 (9)
I2C: Found address: 0x0A (10)
I2C: Found address: 0x0B (11)
I2C: Found address: 0x0C (12)
I2C: Found address: 0x0D (13)
I2C: Found address: 0x0E (14)
I2C: Found address: 0x0F (15)
I2C: Found address: 0x10 (16)
I2C: Found address: 0x11 (17)
I2C: Found address: 0x12 (18)
I2C: Found address: 0x13 (19)
I2C: Found address: 0x14 (20)
I2C: Found address: 0x15 (21)
I2C: Found address: 0x16 (22)
I2C: Found address: 0x17 (23)
I2C: Found address: 0x18 (24)
I2C: Found address: 0x19 (25)
I2C: Found address: 0x1A (26)
I2C: Found address: 0x1B (27)
I2C: Found address: 0x1C (28)
I2C: Found address: 0x1D (29)
I2C: Found address: 0x1E (30)
I2C: Found address: 0x1F (31)
I2C: Found address: 0x20 (32)
I2C: Found address: 0x21 (33)
I2C: Found address: 0x22 (34)
I2C: Found address: 0x23 (35)
I2C: Found address: 0x24 (36)
I2C: Found address: 0x25 (37)
I2C: Found address: 0x26 (38)
I2C: Found address: 0x27 (39)
I2C: Found address: 0x28 (40)
I2C: Found address: 0x29 (41)
I2C: Found address: 0x2A (42)
I2C: Found address: 0x2B (43)
I2C: Found address: 0x2C (44)
I2C: Found address: 0x2D (45)
I2C: Found address: 0x2E (46)
I2C: Found address: 0x2F (47)
I2C: Found address: 0x30 (48)
I2C: Found address: 0x31 (49)
I2C: Found address: 0x32 (50)
I2C: Found address: 0x33 (51)
I2C: Found address: 0x34 (52)
I2C: Found address: 0x35 (53)
I2C: Found address: 0x36 (54)
I2C: Found address: 0x37 (55)
I2C: Found address: 0x38 (56)
I2C: Found address: 0x39 (57)
I2C: Found address: 0x3A (58)
I2C: Found address: 0x3B (59)
I2C: Found address: 0x3C (60)
I2C: Found address: 0x3D (61)
I2C: Found address: 0x3E (62)
I2C: Found address: 0x3F (63)
I2C: Found address: 0x40 (64)
I2C: Found address: 0x41 (65)
I2C: Found address: 0x42 (66)
I2C: Found address: 0x43 (67)
I2C: Found address: 0x44 (68)
I2C: Found address: 0x45 (69)
I2C: Found address: 0x46 (70)
I2C: Found address: 0x47 (71)
I2C: Found address: 0x48 (72)
I2C: Found address: 0x49 (73)
I2C: Found address: 0x4A (74)
I2C: Found address: 0x4B (75)
I2C: Found address: 0x4C (76)
I2C: Found address: 0x4D (77)
I2C: Found address: 0x4E (78)
I2C: Found address: 0x4F (79)
I2C: Found address: 0x50 (80)
I2C: Found address: 0x51 (81)
I2C: Found address: 0x52 (82)
I2C: Found address: 0x53 (83)
I2C: Found address: 0x54 (84)
I2C: Found address: 0x55 (85)
I2C: Found address: 0x56 (86)
I2C: Found address: 0x57 (87)
I2C: Found address: 0x58 (88)
I2C: Found address: 0x59 (89)
I2C: Found address: 0x5A (90)
I2C: Found address: 0x5B (91)
I2C: Found address: 0x5C (92)
I2C: Found address: 0x5D (93)
I2C: Found address: 0x5E (94)
I2C: Found address: 0x5F (95)
I2C: Found address: 0x60 (96)
I2C: Found address: 0x61 (97)
I2C: Found address: 0x62 (98)
I2C: Found address: 0x63 (99)
I2C: Found address: 0x64 (100)
I2C: Found address: 0x65 (101)
I2C: Found address: 0x66 (102)
I2C: Found address: 0x67 (103)
I2C: Found address: 0x68 (104)
I2C: Found address: 0x69 (105)
I2C: Found address: 0x6A (106)
I2C: Found address: 0x6B (107)
I2C: Found address: 0x6C (108)
I2C: Found address: 0x6D (109)
I2C: Found address: 0x6E (110)
I2C: Found address: 0x6F (111)
I2C: Found address: 0x70 (112)
I2C: Found address: 0x71 (113)
I2C: Found address: 0x72 (114)
I2C: Found address: 0x73 (115)
I2C: Found address: 0x74 (116)
I2C: Found address: 0x75 (117)
I2C: Found address: 0x76 (118)
I2C: Found address: 0x77 (119)
I2C: Found 112 device(s)
USE_RX_PPM pin=35
USE_IMU_MPU6050_I2C
E (4348) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=48
E (4348) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=97
E (4360) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=195
E (4371) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=48
E (4383) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=97
E (4394) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=195
E (4405) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=48
E (4417) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=97
E (4428) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=195
E (4440) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=48
E (4451) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=97
E (4462) ledc: requested frequency and duty resolution can not be achieved, try reducing freq_hz or duty_resolution. div_param=195
float AccErrorX = +0.000000;
float AccErrorY = +0.000000;
float AccErrorZ = -1.000000;
float GyroErrorX = +0.000000;
float GyroErrorY = +0.000000;
float GyroErrorZ = +0.000000;
Paste these values in user specified variables section and comment out calculate_IMU_error() in void setup.
ahrs_Setup() No Magnetometer
ahrs_Setup() Estimated yaw:-0.00
gx:+0.00 gy:+0.00 gz:+0.00 ax:+0.00 ay:+0.00 az:+0.00 mx:+0.00 my:+0.00 mz:+0.00 roll:+0.0 pitch:-0.0 yaw:+0.0 yaw_mag:-0.0 imu_err_cnt:0
gx:+0.00 gy:+0.00 gz:+0.00 ax:+0.00 ay:+0.00 az:+0.00 mx:+0.00 my:+0.00 mz:+0.00 roll:+0.0 pitch:-0.0 yaw:+0.0 yaw_mag:-0.0 imu_err_cnt:0

Thank you!

Hello

Firts of all, thanks for sharing rhis project! 😉

Everytime i compile your quadcopter.ino file example with any of the IMU_SPI , it compiles correctly , i export the compiled binary in uf2, and after loading it to the RP2040, it reeboots and i have acess to all the help and cli commands!
When i do a i2c (scan) the mpu6050 is detected at address 0X68!
But since i dont have any spi imu, only i2c, i defined use imu i2c mpu6050
It compiles witout errors , but after putting the uf2 exported compiled file in the rp2040, it loads it but the rp2040 doesnt reboot, no led flashes or blinks, and i loose the com port access to the rp2040, meaning that i cant do anything more!
No change in your original quadcopter ino file example except the IMU !
Any help is greatly appreciated

Regards

This chip has built in lora communication so it may be used for long range RC control.

https://github.com/qqqlab/madflight/files/14320696/stm32wle5cc.1.pdf

Is it possible?
Thanks.