Killswitch drone

src/controller/drone controller/platformio.ini

@@ -12,10 +12,14 @@
 platform = espressif32
 board = lolin_c3_mini
 framework = arduino
-lib_deps = adafruit/Adafruit SSD1306@^2.5.13
+lib_deps = 
+	adafruit/Adafruit SSD1306@^2.5.13
+	olikraus/U8g2@^2.36.5
 
 [env:Xiao_c3]
 board = seeed_xiao_esp32c3
 framework = arduino
 platform = espressif32
-lib_deps = adafruit/Adafruit SSD1306@^2.5.13
+lib_deps = 
+	adafruit/Adafruit SSD1306@^2.5.13
+	olikraus/U8g2@^2.36.5

src/controller/drone controller/src/main.cpp

@@ -1,6 +1,10 @@
 #include <Arduino.h>
 #include <WiFi.h>
 #include <esp_now.h>
+#include <U8g2lib.h>
+
+// Oled Screen stuff
+U8G2_SSD1306_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, /* reset=*/U8X8_PIN_NONE);
 
 const int MAXPWMVALUE = 1000;
 const int MINPWMVALUE = 2000;
@@ -14,6 +18,7 @@ typedef struct struct_message
   int PWMCH2;
   int PWMCH3;
   int PWMCH4;
+  int killSwitch = 1; // 1 = throttle cut, 0 = normal operation
 } struct_message;
 struct_message JoystickData; // declare the struct as JoystickData
 
@@ -39,15 +44,15 @@ void printPWMValues();
 int digitalReadMultiPlexer(int addressA, int addressB, int addressC, int addressD, int pin);
 hardJoystickValues GUIParser();
 void MUXSetup();
-
+void killSwitch();
-
+void OLEDSetup();
 
 void setup()
 {
+  OLEDSetup();
   espNow();
   MUXSetup(); // Setup the multiplexer
   Serial.begin(9600);
-
 }
 
 void loop()
@@ -56,7 +61,6 @@ void loop()
   //  readAllMultiPlexer();
   //  printPWMValues();
 
-
   // Set values to send
   JoystickData.PWMCH1 = mapPot(analogReadMultiPlexer(0, 0, 0, 0, A0));  // Right joystick Y
   JoystickData.PWMCH2 = mapPot(analogReadMultiPlexer(1, 0, 0, 0, A0));  // Right joystick X
@@ -65,12 +69,12 @@ void loop()
   bool buttonRight = abs(analogReadMultiPlexer(0, 0, 1, 0, A0) / 4095); // right button
   bool buttonLeft = abs(analogReadMultiPlexer(1, 0, 1, 0, A0) / 4095);  // left button
 
+  killSwitch();
   GUIParser();
   espNowLoop();
   delay(10); // delay to avoid hammering the radio and to save power/heat
 }
 
-
 int mapPot(int normalizedValue)
 {
   return map(normalizedValue, 400, 2500, MINPWMVALUE, MAXPWMVALUE); // map the normalized value to the PWM range
@@ -132,7 +136,8 @@ void espNow()
   }
 }
 
-void espNowLoop(){
+void espNowLoop()
+{
   // Send message via ESP-NOW
   esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *)&JoystickData, sizeof(JoystickData));
   if (result == ESP_OK)
@@ -158,7 +163,8 @@ void MUXSetup()
 // If joystick is Up then the value is 1 of var A
 // If joystick is Down then the value is 1 of var B
 // If joystick is in the middle A and B are 0
-hardJoystickValues GUIParser(){
+hardJoystickValues GUIParser()
+{
 
   // Define joystick offsets (calibrated resting values)
   const int offsetPWMCH1 = 1090; // Resting value for PWMCH1 (right joystick Y-axis)
@@ -176,17 +182,24 @@ hardJoystickValues GUIParser(){
   int adjustedPWMCH4 = JoystickData.PWMCH4 - offsetPWMCH4;
 
   // Apply deadzone
-    if (abs(adjustedPWMCH1) < deadzone) adjustedPWMCH1 = 0; //abs to avoid negatives
+  if (abs(adjustedPWMCH1) < deadzone)
-    if (abs(adjustedPWMCH2) < deadzone) adjustedPWMCH2 = 0;
+    adjustedPWMCH1 = 0; // abs to avoid negatives
-    if (abs(adjustedPWMCH3) < deadzone) adjustedPWMCH3 = 0;
+  if (abs(adjustedPWMCH2) < deadzone)
-    if (abs(adjustedPWMCH4) < deadzone) adjustedPWMCH4 = 0;
+    adjustedPWMCH2 = 0;
+  if (abs(adjustedPWMCH3) < deadzone)
+    adjustedPWMCH3 = 0;
+  if (abs(adjustedPWMCH4) < deadzone)
+    adjustedPWMCH4 = 0;
 
   // Map joystick values to hard values
   int LXU = 0; // Left joystick X axis up
   int LXD = 0; // Left joystick X axis down
-    if (adjustedPWMCH1 > 0) {
+  if (adjustedPWMCH1 > 0)
+  {
     LXU = 1; // Joystick is up
-    } else if (adjustedPWMCH1 < 0) {
+  }
+  else if (adjustedPWMCH1 < 0)
+  {
     LXD = 1; // Joystick is down
   }
   return {LXU, LXD, 0, 0}; // Return the values as a struct
@@ -196,7 +209,6 @@ hardJoystickValues GUIParser(){
 //           Debugging Functions           //
 /////////////////////////////////////////////
 
-
 void readAllMultiPlexer()
 {
   // we counting in binary
@@ -234,7 +246,6 @@ void readAllMultiPlexer()
   Serial.println(analogReadMultiPlexer(1, 1, 1, 1, A0));
 }
 
-
 void printPWMValues()
 {
   Serial.print("PWMCH1: ");
@@ -246,3 +257,32 @@ void printPWMValues()
   Serial.print(" PWMCH4: ");
   Serial.println(JoystickData.PWMCH4);
 }
+
+void killSwitch()
+{
+  // Set the kill switch to 1 to stop the motors
+  if (abs(analogReadMultiPlexer(0, 0, 1, 0, A0) / 4095) == 1) // Right button
+  {
+    JoystickData.killSwitch = 1; // Activate kill switch
+    Serial.println("Kill switch activated, motors stopped.");
+    u8g2.clearBuffer();
+    u8g2.drawStr(25, 15, "Kill Switch: ON");
+  }
+  else if (abs(analogReadMultiPlexer(1, 0, 1, 0, A0) / 4095) == 1) // Left button
+  {
+    JoystickData.killSwitch = 0; // Deactivate kill switch
+    Serial.println("Kill switch deactivated, motors can run.");
+    u8g2.clearBuffer();
+    u8g2.drawStr(25, 15, "Kill Switch: OFF");
+  }
+  u8g2.sendBuffer();
+}
+
+void OLEDSetup(){
+  u8g2.begin();
+  u8g2.clearBuffer();
+  u8g2.sendBuffer();
+  u8g2.setFont(u8g2_font_6x10_tf); // Use a different, simpler font
+  u8g2.clearBuffer();
+  u8g2.drawStr(25, 15, "Kill Switch: ON");
+}

src/drone/src/main.cpp

@@ -276,8 +276,9 @@ typedef struct struct_message
   int PWMCH2 = 1500;
   int PWMCH3 = 1500;
   int PWMCH4 = 1500;
+  int killSwitch = 1; // 1 = throttle cut, 0 = normal operation
 } struct_message;
-struct_message myData; //Initialise struct as myData
+struct_message ControllerData; //Initialise struct as ControllerData
 #endif
 
 // IMU:
@@ -584,12 +585,12 @@ void IMUinit()
   if (myIMU.begin() == false) // from sparkfun example
   {
     Serial.println("BNO080 not detected at default I2C address. Check your jumpers and the hookup guide. Freezing...");
-    // while (1)
+    while (1)
-    //   ;
+      ;
   }
   Wire.setClock(400000); // Increase I2C data rate to 400kHz
   Serial.println("IMU initialized");
-  myIMU.enableGyro(50);
+  myIMU.enableGyro(50); //for some reason when enabling things too fast the BNO085 will not respond
   delay(100);
   myIMU.enableAccelerometer(50);
   delay(100);
@@ -1351,10 +1352,10 @@ void getCommands()
   }
 
 #elif defined USE_ESPNow
-  channel_1_pwm = myData.PWMCH1;
+  channel_1_pwm = ControllerData.PWMCH1;
-  channel_2_pwm = myData.PWMCH2;
+  channel_2_pwm = ControllerData.PWMCH2;
-  channel_3_pwm = myData.PWMCH3;
+  channel_3_pwm = ControllerData.PWMCH3;
-  channel_4_pwm = myData.PWMCH4;
+  channel_4_pwm = ControllerData.PWMCH4;
   channel_5_pwm = 1000; // Temporary always armed 
   // channel_6_pwm = getRadioPWM(6);
 
@@ -1929,5 +1930,39 @@ void ESPNowSetup()
 
 void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len)
 {
-  memcpy(&myData, incomingData, sizeof(myData));
+  // Create a temporary struct to check the data first
+  struct_message tempData;
+  memcpy(&tempData, incomingData, sizeof(tempData));
+  
+  // Always update the kill switch state first
+  ControllerData.killSwitch = tempData.killSwitch;
+  
+  if (tempData.killSwitch == 1)
+  {
+    // Keep channel values at safe defaults when kill switch is active
+    ControllerData.PWMCH1 = 1000; // Min throttle
+    ControllerData.PWMCH2 = 1500; // Center stick
+    ControllerData.PWMCH3 = 1500; // Center stick
+    ControllerData.PWMCH4 = 1500; // Center stick
+    
+    // Immediately disable motors 
+    ledcWrite(m1Pin, pulseWidthToDutyCycle(1000)); // Minimum pulse width (1000μs)
+    ledcWrite(m2Pin, pulseWidthToDutyCycle(1000));
+    ledcWrite(m3Pin, pulseWidthToDutyCycle(1000));
+    ledcWrite(m4Pin, pulseWidthToDutyCycle(1000));
+    
+    Serial.println("Kill switch activated. Motors disabled.");
+  }
+  else
+  {
+    // Only copy control channel data if kill switch is not active
+    ControllerData.PWMCH1 = tempData.PWMCH1;
+    ControllerData.PWMCH2 = tempData.PWMCH2;
+    ControllerData.PWMCH3 = tempData.PWMCH3;
+    ControllerData.PWMCH4 = tempData.PWMCH4;
+  }
+  
+  // For debugging - uncomment if needed
+  // Serial.print("KillSwitch: ");
+  // Serial.println(ControllerData.killSwitch);
 }