Telemetry

DroneInoTelemetry web app

DroneInoTelemetry is a web app that makes everything simple and easy reach. Use it to fine-tune your PID or fix gyroscope set point and altitude hold PID parameters.

Using this app, you can adjust on the fly these parameters and much more.

Connection using only ESP32

Exploiting the ESP32 native WiFi access point (AP), DroneInoTelemetry web app promises to be very smart in terms of time savings and feedback.

After connecting to DroneInoTelemetry network using the password DroneIno, dial in your browser's search bar 292.168.4.1. That's it. You don't have to download anything, it's just there.

Connection using ESP32-CAM

Now on developing, the ESP32-CAM promises to be the best solution for the telemetry.

With the ESP32-CAM, the flying experience will be much more interactive. See the complete esp32-cam-telemetry repo for more information.

Features

• On flight camera streaming;
• Set camera settings;
• Set PID parameters;
• Pitch, roll, altitude pressure, flight mode and battery telemetry system.

First of all, upload the WiFiTelemetry sketch to your ESP32-CAM.

Then, power the ESP32-CAM with the 5V pin of the ESP32 board and connect the ESP32-CAM GND to the one of the ESP32. The two boards can talk to each other using the UART communication reached by connecting:

• GPIO_3 pin of the ESP32-CAM to the GPIO_25 of the ESP32 board;
• GPIO_1 pin of the ESP32-CAM to the GPIO_26 of the ESP32 board.

Place ESP32-CAM on the drone and start the drone. After connecting to DroneInoTelemetry network using the password DroneIno, dial in your browser's search bar 292.168.4.1. You will find the main menu with:

• PID parameters;
• camera settings;
• handle camera buttons. Tap the turn on button to start the streaming.

If you want to save automatically the PID parameters, you'll need to insert a SD card to store them, see the following paragraph.

Note 2: DroneIno signals the correct interpretation of the message with a led blinking.

SD card for data storage

You can also save your flight data on a SD card. All you need is:

• a SD card formatted in FAT32 to put into your ESP32-CAM;
• create a folder named src;
• in src create a file called config.txt in which you need to write (the order is important!) only the values of:

PID_P_GAIN_ROLL
PID_I_GAIN_ROLL
PID_D_GAIN_ROLL
PID_P_GAIN_PITCH
PID_I_GAIN_PITCH
PID_D_GAIN_PITCH
PID_P_GAIN_YAW
PID_I_GAIN_YAW
PID_D_GAIN_YAW
GYROSCOPE_ROLL_FILTER
GYROSCOPE_ROLL_CORR
GYROSCOPE_PITCH_CORR
PID_P_GAIN_ALTITUDE
PID_I_GAIN_ALTITUDE
PID_D_GAIN_ALTITUDE

Note 1: GYROSCOPE_ROLL_FILTER, GYROSCOPE_ROLL_CORR and GYROSCOPE_PITCH_CORR can be initially set to

0.9996
0
0

Then, place DroneIno onto a 0° horizontal surface. After the drone initialization, depending on the value of the pitch and roll you read on the telemetry web app, change the value of the roll correction and pitch correction.

SD card feature is recommended because when you change some settings in the web app, the src\config.txt file will be automatically updated. With SD card your flight data, such as roll angle, pitch angles, battery and altitude will be save in a file in the folder data\flight_i.csv, which is automatically created. In the future, in the data folder, there will the possibility to save also videos and photos.

The directory structure is

\src
    config.txt
\data
    \videos
    \images
    \flightData
        flight_1.csv
        flight_2.csv
             :
        flight_n.csv