Implementing flight controller for a small quadcopter. UAV is controlled from desktop PC using Xbox (or any else supported by SLD2) gamepad or through ELRS transmitter.
- Motors: 1106
- Props: 4045, ~100mm
- Battery: 7.4v (2s), 1100 mAh
- Frame: plywood
- PCB and ESCs: ~49g
- Motors: 32g
- Battery: 46g
- Frame + Connector: ~56g
- Total weight: 183g
- MCU: STM32F303CBT6
- Crystall oscillator: 16 Mhz
- DC-DC converter for control board and camera: TPS5430
- Control board voltage regulator: AMS1117-3.3
- Accelerometer/Gyroscope: MPU6050
- Magnetometer: QMC5883L
- Remote control: ERLS CRSF receiver
- Telemetry/debug: ESP8266 (ESP-01s)
- Barometer: HP206C
Debug and configuration is performed through AP named copter created
by this UAV. Listed commands should be sent using UDP/IP to address
192.168.3.1.
info (mpu | qmc | hp | values | pid)-- mpu6050/qmc5883L/hp206c/control values/PID datar-- turn off motorse-- turn on motorsc [altitude]-- recalibratecalib mag (on|off)-- enter/escape magnetometer calibration modepid (tilt|stilt|yaw|syaw|sclimb) (p|i|d) {val}-- set tilt/tilt speed/yaw/yaw speed/climb speed PID P/I/D valuepid (tilt|yaw) (single/double)-- switch to single/double PID loop mode for tilt/yawcompl {val}-- set complimentary filter's time constant for tiltlpf (climb|pressure) {val}-- set low-pass filter's time constant for climb speed/pressureadj (roll|pitch|yaw) {val}-- set offset for roll/pitch/yaw (only for dual PID loop mode)adj mag (x0|y0|z0|xscale|yscale|zscale|decl) {val}-- set x/y/z offset, x/y/z scale or magnetic declination for magnetometert (p | r | y | c) {val}-- set pitch/roll/yaw/climb target