STILL WORK IN PROGRESS
This repository contains the code that I am developing for the creation of a quadcopter controller. The idea is to use a nucleo STM32 F401RE as the drone controller in order to control correctly each ESC, the accelerometer/gyre and the transmission between user and STM.
This project is inspired by another STM quadcopter developed some years ago by Brokking here the link to its webiste and here the link to his video tutorials.
| COMPONENT | MODEL | N OF PIECES | COST € | LINK |
|---|---|---|---|---|
| Microcontroller | STM32 F411 | 1 | 6.68 | here |
| ST link | - | 1 | 3.45 | here |
| ESC + motor + propeller | 10000 kV - A2212 | 4 | 26.23 | here |
| Battery connector | XT 60 male/female | 1 | 2.42 | here |
| Lipo Battery | 2200 mAh - 11.1 V - 3S - 30C | 1 | 20.99 | here |
| Battery charger | 3S - B3 Pro | 1 | 4.15 | here |
| Gyroscope/IMU | MPU 6050 | 1 | 2.70 | here |
| NRF24 tx + antenna | NRF24L01 | 1 | 1.85 | here |
| FPV camera | OV2640 2MP | 1 | 4.74 | here |
| Bluetooth receiver | HC-05 | 1 | 3.05 | here |
| GPS | GY-NEO6MV2 | 1 | 2.97 | here |
| PCB for flight cntrl | - | 1 | - | no link |
Total cost up to now: 79.23 €
Just for initial prototyping I am controlling the drone actions with bluetooth. I am using an HC-05 bluetooth device connected to the STM and I send the control from an adroid app on my phone (arduino bluetooth controller). The app allows me to map to each button on the joystick a specific character. Future implementatios is to use a radio transmitter made with another STM that uses an NRF module.
Tutorials for the complementary filter and kalman filter at here. A very nice tool that shows real time signal coming from the COM port serial oscilloscope
- Implement computation of angle from gyro data/ signal processing
- Tune correctly PD/PID
- Migrate all the code and project to a STM32 Blackpill (STM32 F10F411) + custom PCB
- create 3d model of frame + print
Useful link for sensor fusion between gyro and accelerometer with kalman filter here
