update drone_controller. add arduino library support. add adafruit gps library. add managed dependencies. update flake.lock.

.gitignore

@@ -1,6 +1,7 @@
 .vscode/
 build/
 target/
+managed_components/
 
 .direnv
 

.gitmodules

@@ -5,3 +5,6 @@
 [submodule "components/esp32_BNO08x"]
 	path = components/esp32_BNO08x
 	url = ssh://git@forgejo.galard.uk:222/Cansat/esp32_BNO08x.git
+[submodule "components/esp32_Adafruit_GPS"]
+	path = components/esp32_Adafruit_GPS
+	url = ssh://git@forgejo.galard.uk:222/Cansat/esp32_Adafruit_GPS.git

CMakeLists.txt

@@ -3,4 +3,7 @@
 cmake_minimum_required(VERSION 3.5)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+idf_build_replace_option_from_property(COMPILE_OPTIONS "-Werror" "")
+
 project(esp32-hello-rust)

components/drone_controller

@@ -1 +1 @@
-Subproject commit c3a3a356edf2375bf5a7a7d93e3ed7cbc4c934f3
+Subproject commit 13e27fe7251a4e92c875147b59bec20bb507736c

components/esp32_Adafruit_GPS

@@ -0,0 +1 @@
+Subproject commit 3df2e79d866d1a46fe79f9094a8647a3fd8c5c40

dependencies.lock

@@ -0,0 +1,468 @@
+dependencies:
+  chmorgan/esp-libhelix-mp3:
+    component_hash: cbb76089dc2c5749f7b470e2e70aedc44c9da519e04eb9a67d4c7ec275229e53
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.1.0'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.0.3
+  espressif/arduino-esp32:
+    component_hash: c1ed9d8ca2790678814eaa09bde8ee95c35810167bf397e93cbb1ead36799bb7
+    dependencies:
+    - name: chmorgan/esp-libhelix-mp3
+      registry_url: https://components.espressif.com
+      require: private
+      version: 1.0.3
+    - name: espressif/cbor
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32p4]
+      version: 0.6.1~4
+    - name: espressif/esp-dsp
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32c61]
+      version: ^1.3.4
+    - name: espressif/esp-modbus
+      registry_url: https://components.espressif.com
+      require: private
+      version: ^1.0.15
+    - name: espressif/esp-sr
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target in [esp32s3, esp32p4]
+      version: ^2.1.5
+    - name: espressif/esp-zboss-lib
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32c61, esp32p4]
+      version: ==1.6.4
+    - name: espressif/esp-zigbee-lib
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32c61, esp32p4]
+      version: ==1.6.8
+    - name: espressif/esp_diag_data_store
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32p4]
+      version: 1.0.2
+    - name: espressif/esp_diagnostics
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32p4]
+      version: 1.2.1
+    - name: espressif/esp_hosted
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target == esp32p4
+      version: ^2.9.2
+    - name: espressif/esp_insights
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32p4]
+      version: 1.2.2
+    - name: espressif/esp_modem
+      registry_url: https://components.espressif.com
+      require: private
+      version: ^2.0.0
+    - name: espressif/esp_rainmaker
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32p4]
+      version: 1.5.2
+    - name: espressif/esp_wifi_remote
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target == esp32p4
+      version: ^1.2.2
+    - name: espressif/lan867x
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target in [esp32, esp32p4]
+      version: ^2.0.0
+    - name: espressif/libsodium
+      registry_url: https://components.espressif.com
+      require: private
+      version: ^1.0.20~1
+    - name: espressif/mdns
+      registry_url: https://components.espressif.com
+      require: private
+      version: ^1.2.3
+    - name: espressif/network_provisioning
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target != esp32c2
+      version: 1.0.2
+    - name: espressif/qrcode
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32p4]
+      version: 0.1.0~2
+    - name: espressif/rmaker_common
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: target not in [esp32c2, esp32p4]
+      version: 1.4.6
+    - name: idf
+      require: private
+      version: '>=5.3,<5.6'
+    - name: joltwallet/littlefs
+      registry_url: https://components.espressif.com
+      require: private
+      version: ^1.10.2
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    targets:
+    - esp32
+    - esp32c2
+    - esp32c3
+    - esp32c5
+    - esp32c6
+    - esp32c61
+    - esp32h2
+    - esp32p4
+    - esp32s2
+    - esp32s3
+    version: 3.3.7
+  espressif/cbor:
+    component_hash: dad9ca860963e930366510a10b422b3125a4fb27b979712ed65efcbcd742de50
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=5.0'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 0.6.1~4
+  espressif/esp-dsp:
+    component_hash: 939e9c053487d6e7b7320a5cb761b2200e4b331730d6721668755ef76ab9f067
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.2'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.7.1
+  espressif/esp-modbus:
+    component_hash: 5d5e90b9e55721a8a194b301ad8102d4affb647f47b74cd413ff7d1ce2c1169c
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.3'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.0.18
+  espressif/esp-serial-flasher:
+    component_hash: dcc42a16712a1a636509cf0bf90e14032d7f2141784b533613b267b6aa318d52
+    dependencies: []
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 0.0.11
+  espressif/esp-zboss-lib:
+    component_hash: 321883d142421f65009972408287441794250057668a11abbdfd8bec77c3309a
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=5.0'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.6.4
+  espressif/esp-zigbee-lib:
+    component_hash: fa0812e6743e2a7d999af9f44ccdcea17ccb1e80f98d6b2956f44687503a88fd
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=5.0'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.6.8
+  espressif/esp_diag_data_store:
+    component_hash: c1e5cf62f545d2b136db299f4df1b228b9840be5bc3410c9ad2d2a882b5c0d64
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.1'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.0.2
+  espressif/esp_diagnostics:
+    component_hash: 5ea8e8da8217ed9ed778db3973139e726e17cd27ef5cf6429c787d19226c79f3
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.1'
+    - name: espressif/rmaker_common
+      registry_url: https://components.espressif.com
+      require: private
+      version: ~1.4.0
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.2.1
+  espressif/esp_insights:
+    component_hash: 4015c524b9955528f941268cf080174076b195800de910d061efc46113bc2e0c
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.1'
+    - name: espressif/cbor
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: idf_version >=5.0
+      version: ~0.6
+    - name: espressif/esp_diag_data_store
+      registry_url: https://components.espressif.com
+      require: private
+      version: 1.0.2
+    - name: espressif/esp_diagnostics
+      registry_url: https://components.espressif.com
+      require: private
+      version: 1.2.1
+    - name: espressif/rmaker_common
+      registry_url: https://components.espressif.com
+      require: private
+      version: ~1.4.0
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.2.2
+  espressif/esp_modem:
+    component_hash: 07b6ca85dc0c1edbcd76f650005c74067001db138db6bfa106bf05567adca4af
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.1'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 2.0.0
+  espressif/esp_rainmaker:
+    component_hash: f6fe458fc7a0102ee2879f0247da4b41419e6c07de12031f66e5e9454d25baaa
+    dependencies:
+    - name: espressif/esp_rcp_update
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: idf_version >= 5.1
+      version: ~1.2.0
+    - name: espressif/esp_schedule
+      registry_url: https://components.espressif.com
+      require: private
+      version: ~1.2.0
+    - name: espressif/esp_secure_cert_mgr
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: idf_version >=4.3
+      version: ^2.2.1
+    - name: espressif/json_generator
+      registry_url: https://components.espressif.com
+      require: private
+      version: ~1.1.1
+    - name: espressif/json_parser
+      registry_url: https://components.espressif.com
+      require: private
+      version: ~1.0.3
+    - name: espressif/mdns
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: idf_version >=5.0
+      version: ^1.2.0
+    - name: espressif/network_provisioning
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: idf_version >= 5.1
+      version: ~1.0.0
+    - name: espressif/rmaker_common
+      registry_url: https://components.espressif.com
+      require: private
+      version: ~1.4.6
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.5.2
+  espressif/esp_rcp_update:
+    component_hash: c10afbd54a17f27eed880e61262b161656e6d36ad63376c307f9273e99d0abcd
+    dependencies:
+    - name: espressif/esp-serial-flasher
+      registry_url: https://components.espressif.com
+      require: private
+      version: ~0.0.0
+    - name: idf
+      require: private
+      version: '>=5.0'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.2.0
+  espressif/esp_schedule:
+    component_hash: e202a9c688f7f1ab601efb91d682e4bcfaebc508dcceee1a1e0a0d2d1ca75a26
+    dependencies:
+    - name: espressif/rmaker_common
+      registry_url: https://components.espressif.com
+      require: private
+      version: ~1.4.2
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.2.0
+  espressif/esp_secure_cert_mgr:
+    component_hash: 2587797e68395edb67f30a7f9a7ce6a529492fa5fa6468592e912bc7ea34dbae
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.3'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 2.9.1
+  espressif/jsmn:
+    component_hash: d80350c41bbaa827c98a25b6072df00884e72f54885996fab4a4f0aebce6b6c3
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.3'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.1.0
+  espressif/json_generator:
+    component_hash: 45033e1c199b13f1c8c1b544fb7d4e2df6a8e3071ebdcb1b22582b61a7974ff2
+    dependencies: []
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.1.2
+  espressif/json_parser:
+    component_hash: d74b81729ad06ec11ff5eb5b1b0d7df1d00e6027fc11471f4b139c70dcf1b1e4
+    dependencies:
+    - name: espressif/jsmn
+      registry_url: https://components.espressif.com
+      require: private
+      rules:
+      - if: idf_version >=5.0
+      version: ~1.1
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.0.3
+  espressif/lan867x:
+    component_hash: 651c9d6e3d96acb08bd5066144b12a12e94df0a6241127a0538d8680689de2c4
+    dependencies:
+    - name: espressif/lan86xx_common
+      registry_url: https://components.espressif.com
+      require: private
+      version: '*'
+    - name: idf
+      require: private
+      version: '>=5.3'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    targets:
+    - esp32
+    - esp32p4
+    version: 2.0.0
+  espressif/lan86xx_common:
+    component_hash: 6dcb1be9f43ae940979bd628fa5bee278949b66c545e1fe2321e486102e81026
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=5.2'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.0.0
+  espressif/libsodium:
+    component_hash: ec52dce5da4af52b1908a0e23e2cf8f492edea090450e51f0d1fbe1108b6d58e
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.2'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.0.20~4
+  espressif/mdns:
+    component_hash: 7c0fa01a1cd0e72a87ec1928c3b661c0a3a9034a6d3a69dcf4850db8c6f272db
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=5.0'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.10.1
+  espressif/network_provisioning:
+    component_hash: ef2e10182fd1861e68b821491916327c25416ca7ae70e5a6e43313dbc71fe993
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=5.1'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.0.2
+  espressif/qrcode:
+    component_hash: 3b493771bc5d6ad30cbf87c25bf784aada8a08c941504355b55d6b75518ed7bc
+    dependencies: []
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 0.1.0~2
+  espressif/rmaker_common:
+    component_hash: a3a1df881278d0351fc850b77792fe8a196ddd6dcacbea203d606329cc6a0239
+    dependencies: []
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.4.6
+  idf:
+    source:
+      type: idf
+    version: 5.5.2
+  joltwallet/littlefs:
+    component_hash: dcea25bcef2de023f089f5f01e8d8c46ad1b8ffef75861ad5ffb4098555839df
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=5.0'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.20.4
+direct_dependencies:
+- espressif/arduino-esp32
+- idf
+manifest_hash: bb586ec925aec51fa9a2f4da694bbf1dd0c5ef5f4f654f1ef56d33c48f29627b
+target: esp32
+version: 2.0.0

flake.lock

@@ -55,12 +55,12 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1773524153,
+        "lastModified": 1773705440,
-        "narHash": "sha256-Jms57zzlFf64ayKzzBWSE2SGvJmK+NGt8Gli71d9kmY=",
+        "narHash": "sha256-xB30bbAp0e7ogSEYyc126mAJMt4FRFh8wtm6ADE1xuM=",
-        "rev": "e9f278faa1d0c2fc835bd331d4666b59b505a410",
+        "rev": "48652e9d5aea46e555b3df87354280d4f29cd3a3",
-        "revCount": 909435,
+        "revCount": 909529,
         "type": "tarball",
-        "url": "https://api.flakehub.com/f/pinned/NixOS/nixpkgs/0.2511.909435%2Brev-e9f278faa1d0c2fc835bd331d4666b59b505a410/019cf299-7370-7f85-8f75-843d52f00e6c/source.tar.gz"
+        "url": "https://api.flakehub.com/f/pinned/NixOS/nixpkgs/0.2511.909529%2Brev-48652e9d5aea46e555b3df87354280d4f29cd3a3/019cfa5a-a70b-7a78-8ef9-77b8017859a2/source.tar.gz"
       },
       "original": {
         "type": "tarball",

main/CMakeLists.txt

@@ -2,8 +2,3 @@ idf_component_register(SRCS "main.cpp"
                     INCLUDE_DIRS "")
 
 
-target_compile_options(${COMPONENT_LIB} PRIVATE 
-                       "-Wno-gnu-array-member-paren-init" 
-                       "-Wno-parentheses-equality"
-                       "-Wno-template-in-declaration-name"
-)

main/idf_component.yml

@@ -0,0 +1,17 @@
+## IDF Component Manager Manifest File
+dependencies:
+  ## Required IDF version
+  idf:
+    version: '>=4.1.0'
+  # # Put list of dependencies here
+  # # For components maintained by Espressif:
+  # component: "~1.0.0"
+  # # For 3rd party components:
+  # username/component: ">=1.0.0,<2.0.0"
+  # username2/component2:
+  #   version: "~1.0.0"
+  #   # For transient dependencies `public` flag can be set.
+  #   # `public` flag doesn't have an effect dependencies of the `main` component.
+  #   # All dependencies of `main` are public by default.
+  #   public: true
+  espressif/arduino-esp32: ^3.3.7

main/main.cpp

@@ -1,19 +1,22 @@
-
 #include "BNO08x.hpp"
 #include "BNO08xGlobalTypes.hpp"
 #include "drone_controller.h"
 #include "esp_timer.h"
+#include <cmath>
 #include <cstdint>
 #include <stdio.h>
 
 static const constexpr char *TAG = "Main";
 
 static struct Vec3C accel = {0, 0, 0};
+static struct Vec3C last_accel = {0, 0, 0};
 static struct QuatC rot = {0, 0, 0, 0};
 static struct Vec3C pos = {0, 0, 0};
 static struct Vec3C vel = {0, 0, 0};
 static int64_t last_time = -1;
 
+static struct Vec3C euler_ang = {0, 0, 0};
+
 extern "C" void app_main(void) {
   BNO08x *imu = new BNO08x();
 
@@ -22,10 +25,13 @@ extern "C" void app_main(void) {
     return;
   }
 
-  // Use the pointer in your lambdas
-  imu->rpt.rv_game.enable(2500UL);
-  imu->rpt.linear_accelerometer.enable(10000UL);
   imu->dynamic_calibration_autosave_enable();
+  imu->dynamic_calibration_enable(BNO08xCalSel::all);
+
+  // Linear accel at 100Hz (10000UL us)
+  imu->rpt.rv_game.enable(2500UL);
+  imu->rpt.linear_accelerometer.enable(2500UL);
+  imu->rpt.rv_game.tare();
 
   imu->register_cb([imu]() {
     if (imu->rpt.linear_accelerometer.has_new_data()) {
@@ -34,27 +40,34 @@ extern "C" void app_main(void) {
 
       int64_t time = esp_timer_get_time();
       if (last_time != -1) {
-        float dt = (time - last_time) / 1000000.0;
+        float dt = (time - last_time) / 1000000.0f;
 
-        Vec3C init_vel = vel;
         Vec3C delta = apply_rot(&accel, &rot);
+        delta.x += last_accel.x;
+        delta.y += last_accel.y;
+        delta.z += last_accel.z;
 
-        multiply_vec_by(&delta, dt);
+        multiply_vec_by(&delta, dt * 0.5f);
         add_to_vec(&vel, &delta);
-
+        last_accel = accel;
-        delta = init_vel;
-        multiply_vec_by(&delta, dt);
-        add_to_vec(&pos, &delta);
       }
       last_time = time;
     }
+
     if (imu->rpt.rv_game.has_new_data()) {
       auto sens_rot = imu->rpt.rv_game.get_quat();
+      auto euler = imu->rpt.rv_game.get_euler();
+      euler_ang = {euler.x, euler.y, euler.z};
       rot = {sens_rot.i, sens_rot.j, sens_rot.k, sens_rot.real};
     }
   });
 
   while (1) {
     vTaskDelay(pdMS_TO_TICKS(100));
+    // Print filtered data to see the difference
+    printf("accel_filt - %f, %f, %f", accel.x, accel.y, accel.z);
+    printf("; vel - %f, %f, %f", vel.x, vel.y, vel.z);
+    printf("; euler - %f, %f, %f\n", euler_ang.x, euler_ang.y, euler_ang.z);
+    // multiply_vec_by(&vel, 0.99);
   }
 }