Update readme, add building instructions

README.md

@@ -17,17 +17,30 @@
 * *MAVLink support\*.*
 * *Completely 3D-printed frame*.*
 * *Position control and autonomous flights using external camera\**.
+* [Building and running instructions](docs/build.md).
 
 *\* — planned.*
 
+## It actually flies
+
+## Simulation
+
+Simulation in Gazebo using a plugin that runs original Arduino code is implemented:
+
+<img src="docs/img/simulator.png" width=500>
+
+## Schematics
+
+<img src="docs/img/schematics.svg" width=800>
+
 ## Version 0
 
 ### Components
 
 |Component|Type|Image|Quantity|
 |-|-|-|-|
 |ESP32 Mini|Microcontroller board|<img src="docs/img/esp32.jpg" width=180>|1|
-|GY-91|IMU+barometer board|<img src="docs/img/gy-91.jpg" width=180>|1|
+|GY-91|IMU+LDO+barometer board|<img src="docs/img/gy-91.jpg" width=180>|1|
 |K100|Quadcopter frame|<img src="docs/img/frame.jpg" width=180>|1|
 |8520 3.7V brushed motor|Motor|<img src="docs/img/motor.jpeg" width=180>|4|
 |Hubsan 55 mm| Propeller|<img src="docs/img/prop.jpg" width=180>|4|

docs/build.md

@@ -0,0 +1,86 @@
+# Building and running
+
+## Simulation
+
+Dependencies are [Gazebo Classic simulator](https://classic.gazebosim.org) and [SDL2](https://www.libsdl.org) library.
+
+### Ubuntu
+
+1. Install Gazebo 11:
+
+   ```bash
+   curl -sSL http://get.gazebosim.org | sh
+   ```
+
+   Set up your Gazebo environment variables:
+
+   ```bash
+   echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+   source ~/.bashrc
+   ```
+
+2. Install SDL2:
+
+   ```bash
+   sudo apt-get install libsdl2-dev
+   ```
+
+3. Run the simulation:
+
+   ```bash
+   make simulator
+   ```
+
+### macOS
+
+1. Install Homebrew package manager, if you don't have it installed:
+
+   ```bash
+   /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
+   ```
+
+2. Install Gazebo 11 and SDL2:
+
+   ```bash
+   brew tap osrf/simulation
+   brew install gazebo11
+   brew install sdl2
+   ```
+
+3. Run the simulation:
+
+   ```bash
+   make simulator
+   ```
+
+## Firmware
+
+### Arduino IDE (Windows, Linux, macOS)
+
+1. Install [Arduino IDE](https://www.arduino.cc/en/software).
+2. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
+3. Build and upload the firmware using Arduino IDE.
+
+### Command line (Windows, Linux, macOS)
+
+1. [Install Arduino CLI](https://arduino.github.io/arduino-cli/installation/).
+2. Windows users might need to install [USB to UART bridge driver from Silicon Labs](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers).
+3. Compile the firmware using `make`. Arduino dependencies will be installed automatically:
+
+   ```bash
+   make
+   ```
+
+   You can flash the firmware to the board using command:
+
+   ```bash
+   make upload
+   ```
+
+   You can also compile the firmware, upload it and start serial port monitoring using command:
+
+   ```bash
+   make upload monitor
+   ```
+
+See other available Make commands in the [Makefile](../Makefile).