Hi!! I've finished my old Drone project. The code is on my github: GitHub - PIKUT0/Drone-on-Arduino-Nano: My old project (firmware/RXV.ino for the drone). There's no problem in code, it works fine. Motors work fine too.
There's problem with 1 esc.
Long time ago I've bought 4 similar esc's and 4 similar Brushless motors from one shop on AliExpress sale, e.g. (1 propeller + 1 motor + 1 ESC)x4. They used to work perfectly!
Then I put the drone on shelf for a long time . Now only 1 esc (on photo marked as "x") acts weirdly. As seen on video (https://youtu.be/2V0I7MOlc14) it has a strange delay at start [marked as 4 and pointed blue arrow on the motor] and quick stop (https://youtu.be/36q1Z64jGXU). I've tried switching pins, motors, etc., checked arduino wiring, nothing. Everything works properly except that ESC. Then checked only its on-board capacitors and resistors = they're fine. I have no idea what happened to it. So I'm here looking for help.
Any ideas what happened ?
ESC, motors and propellers: https://aliexpress.ru/item/4000330189092.html?srcSns=sns_WhatsApp&businessType=ProductDetail&spreadType=socialShare&tt=MG&utm_medium=sharing&sku_id=10000001352503687
(1045 XXD30A 1000KV, that yellow one)
Photos of properly working ESC (on photo marked as "P") and and that one ("x").
P.S. I cant send videos here, so uploaded them on my YT channel and you can watch them only via link. (Screenshots as proof). Sorry for bad quality video, edited them via telegram which eats quality 
P.P. S. Ahh, sorry if my message contains grammatical mistakes, English is my second language and my still practicing 
Here's RX code that I copied from my github (it has 2 languages - Russian and English):
//------------------- CREDITS ------------------//
// Author: Pikuto
// GitHub: https://github.com/PIKUT0
// Project GitHUb: https://github.com/PIKUT0/Drone-on-Arduino-Nano
// 12.06.20 Started
// 08.08.24 Finished
// Yeah, I was lazy.
// This code is for Drone = Receiver
//-------------------- CODE -------------------//
//------------ LIBRARIES ------------//
#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
#include <Servo.h>
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
//------------ "DEFINES" ------------//
MPU6050 mpu;
//#define OUTPUT_READABLE_WORLDACCEL
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" and "PID_YPR" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO and if you want to controll your drone via YPR PID.
// Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL
#define PID_YPR
// uncomment "OUTPUT_READABLE_EULER" and "PID_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO
// and if you want to controll your drone via Euler PID.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER
//#define PID_EULER
#define MAX_SPEED 2000 // Motor Max speed = Dangerous
#define IDLE_SPEED 1100 // Motor Idling speed = min_speed
#define NO_SPEED 1000 // No Rotation = No speed
Servo Motor1, Motor2, Motor3, Motor4;
RF24 radio(8, 10); // Make sure you connected radio module correctly. Can change this numbers.
// {RU} ["создать" модуль на пинах 9 и 10 Для Уно]
//------------ VARIABLES ------------//
//-------- For MPU6050 --------//
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO Buffer, Here we store all data
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
int yaw, pitch, roll; // our yaw pitch and roll and other shit from GY521
//int e_psi; // Euler Psi angle in degrees ["e" stands for Euler]
//int e_theta; // Euler Theta angle in degrees ["e" stands for Euler]
//int e_phi; // Euler Phi angle in degrees ["e" stands for Euler]
//--------- For PID ---------//
float PIDReturn[]={0, 0, 0}; //PID output
//Angle
int des_AngleRoll; // Desired Roll angle
int des_AnglePitch; // Desired pitch angle
int des_AngleYaw; // Desired yaw angle
float er_AngleRoll = 0; // Error for roll angle in degrees
float er_AnglePitch= 0; // Error for pitch angle in degress
float er_AngleYaw = 0; // Error for yaw angle in degrees
float p_a_AngleRoll=0; // p_e{..} = Previous Angle [Roll]
float p_a_AnglePitch=0; // p_e{..} = Previous Angle [Pitch]
float p_a_AngleYaw=0; // p_e{..} = Previous Angle [Yaw]
float S_I_AngleRoll = 0;// p_e{..} = Previous Integral sum of Error for roll angle
float S_I_AnglePitch =0;// p_e{..} = Previous Integral sum of Error for pitch angle
float S_I_AngleYaw = 0; // p_e{..} = Previous Integral sum of Error for Yaw angle
//--- For MOTORS and Radio ---//
unsigned long OldTimer; // Counter for some Logic
int x1,y1,x2,y2; // Our radio joystick variables
int RollPID, PitchPID, YawPID;
int FL, FR, BL, BR = 0; // Motor Inputs
// [FL - Front Left Motor-4 (передний левый (4 мотор))]
// [FR - Front Right Motor-1 (передний правый (1 мотоР))]
// [BL - Back Left Motor-3 (задний левый (3 мотор))]
// [BR - Back Right Motor-2 (задний правый (2 мотор))]
byte SAFETY = 0; // Safety goes first
byte address[][6] = {"1Node", "2Node", "3Node", "4Node", "5Node", "6Node"}; //Tube address
unsigned long gotByte; // Radio data
//--------------- FUNCTIONS ---------------//
// This Function will return joystick angles [Rate, Yaw, pitch] [Psi, Theta, Phi]
// I'm Still not sure how to use it correctly, need to check in reality
void desiredAngle(){
// -- Yaw -- //
des_AngleYaw = map(x2, 0, 255, 1000,2000);
des_AngleYaw = int(0.1*(des_AngleYaw - 1500));
if(des_AngleYaw == -1) des_AngleYaw = 0;
// -- Picth -- //
des_AnglePitch = map(y1, 0, 255, 1000,2000);
des_AnglePitch = int(0.1*(des_AnglePitch - 1500));
if(des_AnglePitch == -1) des_AnglePitch = 0;
// -- Roll -- //
des_AngleRoll = map(x1, 0, 255, 1000,2000);
des_AngleRoll = int(0.1*(des_AngleRoll - 1500));
if(des_AngleRoll == -1.) des_AngleRoll = 0;
}
//This Function is PID function
void pid_equation(float Error, float KP, float KI, float KD, float PrevData, float ISum, byte k){
int Data = 0;
float uP, uI, uD, PID;
uP = KP * Error;
ISum = ISum + Error;
if(Error == 0) ISum = 0;
if(ISum < -200)ISum = -200;
if(ISum > 200)ISum = 200;
uI = KI * ISum;
gyro_signals();
if(k == 0) Data = roll;
if(k == 1) Data = pitch;
if(k == 2) Data = yaw;
uD = KD * (Data - PrevData);
PID = uP + uI + uD;
if (PID>200) PID=200;
else if (PID <-200) PID=-200;
PIDReturn[0] = PID;
PIDReturn[1] = Data;
PIDReturn[2] = ISum;
}
//This Function will calculate Roll, Yawm and Pitch PID
void pid_calculate(){
// --- ROLL --- //
er_AngleRoll = des_AngleRoll - roll;
p_a_AngleRoll = roll;
pid_equation(er_AngleRoll, 0.35, 0.3, 0.04, p_a_AngleRoll, S_I_AngleRoll, 0);
p_a_AngleRoll = PIDReturn[1];
S_I_AngleRoll = PIDReturn[2];
RollPID = int(PIDReturn[0]);
// --- YAW --- //
//No Need
// --- PITCH --- //
er_AnglePitch = des_AnglePitch - pitch;
p_a_AnglePitch = pitch;
pid_equation(er_AnglePitch, 0.35, 0.3, 0.04, p_a_AnglePitch,S_I_AnglePitch, 1);
p_a_AnglePitch = PIDReturn[1];
S_I_AnglePitch = PIDReturn[2];
PitchPID = int(PIDReturn[0]);
}
//This Function will calculate Roll, Yawm and Pitch PID to "Return Home"
void pid_Home(){
// --- ROLL --- //
er_AngleRoll = 0 - roll;
p_a_AngleRoll = roll;
pid_equation(er_AngleRoll, 0.35, 0.3, 0.04, p_a_AngleRoll, S_I_AngleRoll, 0);
p_a_AngleRoll = PIDReturn[1];
S_I_AngleRoll = PIDReturn[2];
RollPID = int(PIDReturn[0]);
// --- YAW --- //
er_AngleYaw = 0 - yaw;
p_a_AngleYaw = yaw;
pid_equation(er_AngleYaw, 0.35, 0.3, 0.02 ,p_a_AngleYaw,S_I_AngleYaw, 2);
p_a_AngleYaw = PIDReturn[1];
S_I_AngleYaw = PIDReturn[2];
YawPID = int(PIDReturn[0]);
// --- PITCH --- //
er_AnglePitch = 0 - pitch;
p_a_AnglePitch = pitch;
pid_equation(er_AnglePitch, 0.35, 0.3, 0.04, p_a_AnglePitch,S_I_AnglePitch, 1);
p_a_AnglePitch = PIDReturn[1];
S_I_AnglePitch = PIDReturn[2];
PitchPID = int(PIDReturn[0]);
}
//This Function is PID error reset function
void reset_pid(){
p_a_AngleRoll = 0; p_a_AnglePitch = 0; p_a_AngleYaw = 0;
S_I_AngleRoll = 0; S_I_AnglePitch = 0; S_I_AngleYaw = 0;
des_AngleRoll = 0; des_AnglePitch = 0; des_AngleYaw = 0;
}
//This Function will return the angle(yaw, pitch, roll)[Wire], Euler angles(DMP) = pure shit
void gyro_signals(void) {
if (!dmpReady) return;
// read a packet from FIFO
if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet
#ifdef OUTPUT_READABLE_EULER
#ifdef PID_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
e_psi = int(euler[0] * 180/M_PI);
e_theta = int(euler[1] * 180/M_PI);
e_phi = (-1)* int(euler[2] * 180/M_PI);
#endif
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
#ifdef PID_YPR
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
yaw = int(ypr[0] * 180/M_PI);
pitch =(-1)*int(ypr[1] * 180/M_PI);
roll = int(ypr[2] * 180/M_PI);
#endif
#endif
}
}
//This Function will rise drone smootly
void smooth_rise(){
SAFETY = 0;
FL = 1000;
OldTimer = millis();
while(SAFETY == 0){
Motor1.writeMicroseconds(FL);
Motor2.writeMicroseconds(FL);
Motor3.writeMicroseconds(FL);
Motor4.writeMicroseconds(FL);
if(millis() - OldTimer >= 500){
OldTimer = millis();
FL = FL + 25;
}
if(FL>1500){
FL = 1500;
SAFETY = 1;
}
}
FL = 0;
}
//------------ SETUP TIME ------------//
void setup() {
//------------ MOTOR INITIALIZATION ------------//
Motor1.attach(5, 0, 2000); // Front Right
Motor2.attach(6, 0, 2000); // Back Right
Motor3.attach(9, 0, 2000); // Back Left
Motor4.attach(3, 0, 2000); // Front Right
//------------ MPU6050 INITIALIZATION ------------//
mpu.initialize();
mpu.testConnection() ? digitalWrite(LED_BUILTIN,1) : digitalWrite(LED_BUILTIN,0);
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(328);
mpu.setYGyroOffset(24);
mpu.setZGyroOffset(-558);
mpu.setXAccelOffset(-1669);
mpu.setYAccelOffset(-1430);
mpu.setZAccelOffset(1553);
if (devStatus == 0) {
// Calibration Time: generate offsets and calibrate our MPU6050
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
mpu.PrintActiveOffsets();
// turn on the DMP, now that it's ready
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
}
else {
Motor1.write(1000);//FR
Motor2.write(1000);//BR
Motor3.write(1000);//BL
Motor4.write(1000);//FL
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
B:for(byte L = 0; L<devStatus; L++){
digitalWrite(LED_BUILTIN,HIGH);
delay(500);
digitalWrite(LED_BUILTIN,LOW);
delay(500);
}
delay(5000);
goto B;
}
//------------ RADIO INITIALIZATION ------------//
radio.begin(); // Activate module [активировать модуль]
radio.setAutoAck(1); // [режим подтверждения приёма, 1 вкл 0 выкл]
radio.setRetries(0, 15); // (Time between attempts, attempts amount)[(время между попыткой достучаться, число попыток]
radio.enableAckPayload(); // разрешить отсылку данных в ответ на входящий сигнал
radio.setPayloadSize(4); // размер пакета, в байтах
radio.openReadingPipe(1, address[0]); // хотим слушать трубу 0
radio.setChannel(0x60); // выбираем канал (в котором нет шумов!)
radio.setPALevel (RF24_PA_MAX); // уровень мощности передатчика. На выбор RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH, RF24_PA_MAX
radio.setDataRate (RF24_250KBPS); // скорость обмена. На выбор RF24_2MBPS, RF24_1MBPS, RF24_250KBPS
//должна быть одинакова на приёмнике и передатчике!
//при самой низкой скорости имеем самую высокую чувствительность и дальность!!
radio.powerUp(); // начать работу
radio.startListening(); // начинаем слушать эфир, мы приёмный модуль
//------------ MOTORS MUSN'T WORK ------------//
Motor1.write(1000);//FR
Motor2.write(1000);//BR
Motor3.write(1000);//BL
Motor4.write(1000);//FL
}
//------------ SETUP ENDS ------------//
//------------ LOOP TIME ------------//
void loop() {
byte pipeNo;
unsigned int n = 1400;
//------------ IF WE WANT TO EASILY LOWER OUR HEIGHT------------//
OldTimer = millis();
while(SAFETY == 2){
if(FR == 0) n = 1000;
FR = n;
Motor1.writeMicroseconds(FR);
Motor2.writeMicroseconds(FR);
Motor3.writeMicroseconds(FR);
Motor4.writeMicroseconds(FR);
if(millis() - OldTimer >= 500){
OldTimer = millis();
n = n - 25;
}
if(n < 1000){
while(true){
Motor1.writeMicroseconds(1000);
Motor2.writeMicroseconds(1000);
Motor3.writeMicroseconds(1000);
Motor4.writeMicroseconds(1000);
}
}
}
//------------ WHILE RADIO WORKS ------------//
A:while (radio.available(&pipeNo)) { // слушаем эфир со всех труб
//------------ GET THE DATA ------------//
// Here we are getting data from transmitter and playing with it
radio.read(&gotByte, sizeof(gotByte)); // чиатем входящий сигнал
y2 = gotByte & 255;
gotByte = gotByte >> 8;
x2 = gotByte & 255;
gotByte = gotByte >> 8;
y1 = gotByte & 255;
gotByte = gotByte >> 8;
x1 = gotByte & 255;
desiredAngle();
x2 = map(x2, 0, 255, -300, 300);
y2 = map(y2, 0, 255, -300, 300);
x1 = map(x1, 0, 255, -300, 300);
y1 = map(y1, 0, 255, -300, 300);
if(x2 == -6) x2 = 0;
if(y2 == -6) y2 = 0;
if(x1 == -6) x1 = 0;
if(y1 == -6) y1 = 0;
//------------ SAFETY GOES FIRST ------------//
D:while(SAFETY == 0){
FR = NO_SPEED;
FL = NO_SPEED;
BR = NO_SPEED;
BL = NO_SPEED;
Motor1.writeMicroseconds(FR);
Motor2.writeMicroseconds(BR);
Motor3.writeMicroseconds(BL);
Motor4.writeMicroseconds(FL);
if(y2 && y1 < 0){
SAFETY = 1;
smooth_rise();
}
goto A;
}
while(SAFETY == 2){
break;
}
//------------ GET THE MPU6050 DATA ------------//
gyro_signals();
//------------ USE PID CONTROLLER ------------//
pid_calculate();
//------------ FORMULA FOR DRONE ------------//
FR = y2 + x2 - y1 - x1 - PitchPID - RollPID;
FL = y2 - x2 - y1 + x1 - PitchPID + RollPID;
BR = y2 - x2 + y1 - x1 + PitchPID - RollPID;
BL = y2 + x2 + y1 + x1 + PitchPID + RollPID;
FR = map(FR, -1200, 1200, 1000, 2000);
FL = map(FL, -1200, 1200, 1000, 2000);
BR = map(BR, -1200, 1200, 1000, 2000);
BL = map(BL, -1200, 1200, 1000, 2000);
//------------ SOME CONSTRAINS ------------//
if (FR > 2000)FR = 2000;
if (BR > 2000)BR = 2000;
if (BL > 2000)BL = 2000;
if (FL > 2000)FL = 2000;
if (FR < IDLE_SPEED) FR = IDLE_SPEED;
if (BR < IDLE_SPEED) BR = IDLE_SPEED;
if (BL < IDLE_SPEED) BL = IDLE_SPEED;
if (FL < IDLE_SPEED) FL = IDLE_SPEED;
if (y2<-295 && x2<-295){
SAFETY = 2;
break;
}
if (y2<-295) {
FR=NO_SPEED;
BR=NO_SPEED;
BL=NO_SPEED;
FL=NO_SPEED;
reset_pid();
}
//------------ APPLY VALUES TO MOTORS ------------//
Motor1.writeMicroseconds(FR);
Motor2.writeMicroseconds(BR);
Motor3.writeMicroseconds(BL);
Motor4.writeMicroseconds(FL);
}
//------------ WHILE RADIO DOESN'T WORK ------------//
// Here drone is on it's own with MPU6050.
// Its job is to lower height every n seconds
// while being stable in the air
OldTimer = millis();
while (!radio.available(&pipeNo)){// слушаем эфир со всех труб
while(SAFETY == 0)goto D; //Check If safety flag is 0 = there was no activity "no rise"
while(SAFETY == 1 && y2 <-295){ //Check If safety flag is 1 and y2 <-295 = no "firewall", but no speed;
FR = 0;
goto E;
}
gyro_signals();
reset_pid();
pid_Home();
//------------ FORMULA FOR DRONE ------------//
FR = 0 + YawPID - PitchPID - RollPID;
FL = 0 - YawPID - PitchPID + RollPID;
BR = 0 - YawPID + PitchPID - RollPID;
BL = 0 + YawPID + PitchPID + RollPID;
FR = map(FR, -1200, 1200, 1000, 2000);
FL = map(FL, -1200, 1200, 1000, 2000);
BR = map(BR, -1200, 1200, 1000, 2000);
BL = map(BL, -1200, 1200, 1000, 2000);
//------------ SOME CONSTRAINS ------------//
if (FR > 2000)FR = 2000;
if (BR > 2000)BR = 2000;
if (BL > 2000)BL = 2000;
if (FL > 2000)FL = 2000;
Motor1.writeMicroseconds(FR);
Motor2.writeMicroseconds(BR);
Motor3.writeMicroseconds(BL);
Motor4.writeMicroseconds(FL);
E:if(millis() - OldTimer >= 8000){
OldTimer = millis();
SAFETY = 2;
break;
}
}
}
