Adaptive UAV

ESP32 program to control/log a micro UAV as part of my Aerospace MEng individual project.

Purpose

• sync actions and data with catapult launch
• Actuate servos at precise points during flight
• record/send IMU data

Main files

• /src/main.cpp -> program on the ESP32
• /ground-station.py -> program to process and store ESP32 data

components used

• board: https://wiki.dfrobot.com/FireBeetle_Board_ESP32_E_SKU_DFR0654
• IMU: https://www.adafruit.com/product/2472

library requirements

Main Arduino libraries (PlatformIO)

• IMU: https://github.com/adafruit/Adafruit_BNO055
• Remote Debug: https://github.com/JoaoLopesF/RemoteDebug
• Dynamixel library: https://github.com/ROBOTIS-GIT/Dynamixel2Arduino

Python

• Catapult library https://github.com/o-gent/uav-launcher