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Extend AeroAlign with mixed CoG planning and telemetry base

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This commit is contained in:
DIGIFLO - Florian Klaner
2026-03-11 23:14:33 +01:00
parent 538c3081bf
commit 56890272a0
28 changed files with 1631 additions and 1332 deletions
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firmware/slave/src/config.h
+26 -17
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@@ -17,15 +17,13 @@
// ========================================
// Master node MAC address
// **IMPORTANT**: Replace this with your Master's actual MAC address
// **IMPORTANT**: Set this to your Master's actual MAC address in config.cpp
// To find Master MAC:
// 1. Flash Master firmware
// 2. Connect Master to USB, open serial monitor (115200 baud)
// 3. Master prints MAC at boot: "Master MAC: 24:6F:28:12:34:56"
// 4. Copy MAC into this array, reflash Slave
//
// Format: {0xAA, 0xBB, 0xCC, 0xDD, 0xEE, 0xFF}
uint8_t master_mac[6] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; // REPLACE WITH ACTUAL MAC
// 4. Copy MAC into firmware/slave/src/config.cpp, then reflash Slave
extern uint8_t master_mac[6];
// Slave node ID (unique identifier for this Slave)
// Default: 0x02 (first Slave)
@@ -43,26 +41,40 @@ uint8_t master_mac[6] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; // REPLACE WITH A
// 100ms = 10Hz update rate (balances latency and power consumption)
#define ESPNOW_SEND_INTERVAL_MS 100
// ESP-NOW packet size (15 bytes: node_id + pitch + roll + yaw + battery + checksum)
#define ESPNOW_PACKET_SIZE 15
// ESP-NOW packet size (16 bytes: node_id + device_type + pitch + roll + yaw + battery + checksum)
#define ESPNOW_PACKET_SIZE 16
// ========================================
// GPIO Pin Definitions (ESP32-C3)
// GPIO Pin Definitions
// ========================================
// I2C pins for IMU (MPU6050/BNO055)
#if defined(CONFIG_IDF_TARGET_ESP32S3)
// ESP32-S3 defaults
#define IMU_I2C_SDA 4 // GPIO4 (SDA)
#define IMU_I2C_SCL 5 // GPIO5 (SCL)
#define IMU_I2C_FREQ 100000 // 100kHz for better signal margin on jumper wires
#define BATTERY_ADC_PIN 1 // GPIO1 (ADC1), avoids GPIO0 boot strap
#define BATTERY_MONITOR_ENABLED 1
#define STATUS_LED_PIN -1 // Board-dependent on S3 modules, disabled by default
#define HARDWARE_MODEL "ESP32-S3"
#else
#define IMU_I2C_SDA 4 // GPIO4 (SDA)
#define IMU_I2C_SCL 5 // GPIO5 (SCL)
#define IMU_I2C_FREQ 400000 // 400kHz (fast mode)
#define BATTERY_ADC_PIN 0 // GPIO0 (ADC1_CH0)
#define BATTERY_MONITOR_ENABLED 1
#define STATUS_LED_PIN 10 // GPIO10 (built-in LED on some boards)
#define HARDWARE_MODEL "ESP32-C3"
#endif
// Battery monitoring (ADC)
// Voltage divider: LiPo+ -> 10kΩ -> GPIO0 -> 10kΩ -> GND
#define BATTERY_ADC_PIN 0 // GPIO0 (ADC1_CH0)
// Voltage divider: LiPo+ -> 10kΩ -> BATTERY_ADC_PIN -> 10kΩ -> GND
#define BATTERY_VOLTAGE_DIVIDER 2.0 // 10kΩ + 10kΩ = 2:1 ratio
// Status LED (optional)
#define STATUS_LED_PIN 10 // GPIO10 (built-in LED on some boards)
// Power control (optional, for deep sleep)
#define POWER_ENABLE_PIN -1 // Not used (always on)
@@ -101,9 +113,6 @@ uint8_t master_mac[6] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; // REPLACE WITH A
// Firmware version
#define FIRMWARE_VERSION "1.0.0"
// Hardware model
#define HARDWARE_MODEL "ESP32-C3"
// System name
#define SYSTEM_NAME "SkyLogic AeroAlign Slave"