STM32 Flight controller

Implementing flight controller for a small quadcopter with coreless 8520 dc motors.

Parameters

• Motors: 8520
• Props: 65mm

Weight

• PCB: ~33g
• Motors: 20g
• Battery: 12g (400mAh), 27g (1800 mAh)
• Frame: ~15 (plywood)
• Total weight: ~80g (400 mAh battery), ~100g (1800 mAh battery)

Devices

• MCU: STM32F411CEU6
• Accelerometer/Gyroscope: MPU6050
• Remote control: ESP8266 (ESP-01s)
• Barometer: BMP280

UAV commands:

info commands:

• md -- mpu6050 data
• bd -- bmp280 data
• vd -- control values
• pd -- PID values

control commands:

• r -- turn off motors
• e -- turn on motors
• sl -- switch to single PID loop mode (speed controlled)
• dl -- switch to dobule PID loop (with stabilization)
• c [altitude] -- recalibrate

value commands:

• t (i | d | s {val}) -- increase/decrease/set thrust
• (p | r | y)t (i | d| s {val}) -- increase/decrease/set pitch/roll/yaw target
• (x | y | z)c (i | d | s {val}) -- increase/decrease X/Y/Z accelerometer correction
• (p | i | d) (i | d | s {val}) -- increase/decrease/set position pid P/I/D value
• s(p | i | d) (i | d | s {val}) -- increase/decrease/set speed pid P/I/D value
• y(p | i | d) (i | d | s {val}) -- increase/decrease/set yaw pid P/I/D value