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https://github.com/jkleiber/quadrotor

Last synced: 6 days ago
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Host: GitHub
URL: https://github.com/jkleiber/quadrotor
Owner: jkleiber
Created: 2021-08-26T04:22:31.000Z (about 3 years ago)
Default Branch: master
Last Pushed: 2023-06-24T18:44:24.000Z (over 1 year ago)
Last Synced: 2024-10-11T03:14:21.893Z (28 days ago)
Language: C++
Size: 36.3 MB
Stars: 3
Watchers: 2
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md

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README

# Quadrotor

This is a project for the hardware and software of a quadcopter.

## Quadcopter 3D CAD
The quadcopter is 3D printed and all CAD work is done in OnShape in [this project](https://cad.onshape.com/documents/413384f17bd393d247c9b79e/w/f46ad751ac408daab1c55c23/e/428b8b34f12af24e5b48da17?renderMode=0&uiState=62fc49f3bee5066f5bad792f)

![Quadcopter CAD](/img/quadcopter-cad.png)

## Control Simulation GUI

The control simulator uses ImGui to allow for real-time data viewing and parameter tuning. Below is a snapshot of the GUI:

![Control Sim GUI](/img/gui_example.png)

## Hardware

A custom flight controller made in KiCAD exists in the `hardware/` directory. This is a breakout board for a Teensy, BNO055 IMU, a GPS module and the PWM outputs for the ESCs.

## Gazebo Simulation

There is a gazebo simulation environment in the `simulation/` directory. It is somewhat functional, but more work has been put into the control simulation GUI. The current gazebo settings aren't configured for the actual drone.