https://github.com/divisionind/hackquad

the hackable open-source esp32 wifi controlled quadcopter
https://github.com/divisionind/hackquad

drone electronics-design esp32 flight flight-controller kicad not-html quadcopter quadcopter-firmware

Last synced: 2 months ago
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the hackable open-source esp32 wifi controlled quadcopter

• Host: GitHub
• URL: https://github.com/divisionind/hackquad
• Owner: divisionind
• License: gpl-3.0
• Created: 2022-12-03T19:43:14.000Z (over 2 years ago)
• Default Branch: master
• Last Pushed: 2022-12-03T19:44:22.000Z (over 2 years ago)
• Last Synced: 2025-01-04T01:39:52.181Z (4 months ago)
• Topics: drone, electronics-design, esp32, flight, flight-controller, kicad, not-html, quadcopter, quadcopter-firmware
• Language: HTML
• Homepage:
• Size: 3.44 MB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# HackQuad

An open-source esp32-based IoT quadcopter intended to be controlled over WiFi (STA or AP) via an xbox controller.

### Why

I made this in 2020, early 2021, because I like building stuff and wanted to test my mechatronics / full-stack product development 

skills. I always planned on open-sourcing it. However, after I got it flying I moved on to other projects and forgot about it.

Today I decided it's about time. I didn't have the heart to clean it up much (kinda nostalgic for me now) so its still 

very much in that dirty development stage. I did organize it for the repo though. I hope this serves as a good reference for anyone

interested in what makes a minimal quadcopter tick -- from the ground up.

### Media

![hackquad](media/hackquad.jpeg)

![controller connected](media/controller_connected.png)

![controller registry](media/controller_reg.png)

![controller registry edit](media/controller_reg_edit.png)

#### [Flight test video](https://www.youtube.com/watch?v=RQggOqLySJw)

### Otherwise unlisted specs

|Part|Description|

|----|-----------|

|Battery|350mAh|

|Motors|8.5x20mm DC|

|Propellers|75mm D (60 works too)|

|USB-C|charging, programming & debugging|

|Frame|PLA+ here, ABS or other gummy polymer|

### Notes

#### The camera

I wired the camera connector up backwards like an idiot, but if you reverse the pin order it should work.

#### Possible improvements

Something to make this project more practical would be dropping the camera, adding a better imu w/ magnetometer, a several watt

RGB led, larger battery, maybe GPS, etc... and using the mesh networking capability of the espressif chips to make a very 

cheap drone light show platform. I say maybe GPS because dead-reckoning imu data combined w/ rssi info in a massive cluster might be

enough to get stable quad-to-quad relative positional information (saving on cost of the individual unit).

#### Improvements for this implementation

- neutral boyancy

- better IMU w/ magnometer

- proper multi-position IMU calibration routine to correct for axes skew

- linear acceleration control layer

- better battery capacity estimation