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https://github.com/okalachev/flix

Making an ESP32-based quadcopter from scratch
https://github.com/okalachev/flix

arduino autopilot control-theory drone esp32 flight-control flight-controller mavlink quadcopter quadcopter-firmware uav

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Making an ESP32-based quadcopter from scratch

Host: GitHub
URL: https://github.com/okalachev/flix
Owner: okalachev
Created: 2020-09-06T21:33:57.000Z (over 4 years ago)
Default Branch: master
Last Pushed: 2024-12-27T18:53:28.000Z (4 days ago)
Last Synced: 2024-12-27T19:33:32.714Z (4 days ago)
Topics: arduino, autopilot, control-theory, drone, esp32, flight-control, flight-controller, mavlink, quadcopter, quadcopter-firmware, uav
Language: C++
Homepage: https://t.me/opensourcequadcopter
Size: 14 MB
Stars: 339
Watchers: 17
Forks: 52
Open Issues: 0
Metadata Files:
- Readme: README.md

Awesome Lists containing this project

README

        # Flix

**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.

  

    Version 1 (3D-printed frame)

    Version 0

  

  

    

    

  

## Features

* Simple and clean Arduino based source code.

* Acro and Stabilized flight using remote control.

* Precise simulation using Gazebo.

* [In-RAM logging](docs/log.md).

* Command line interface through USB port.

* Wi-Fi support.

* MAVLink support.

* Control using mobile phone (with QGroundControl app).

* Completely 3D-printed frame.

* Textbook for students on writing a flight controller ([in development](https://quadcopter.dev)).

* *Position control and autonomous flights using external camera¹*.

* [Building and running instructions](docs/build.md).

*¹ — planned.*

## It actually flies

See detailed demo video (for version 0): https://youtu.be/8GzzIQ3C6DQ.



Version 1 test flight: https://t.me/opensourcequadcopter/42.



## Simulation

The simulator is implemented using Gazebo and runs the original Arduino code:



See [instructions on running the simulation](docs/build.md).

## Components (version 1)

|Type|Part|Image|Quantity|

|-|-|:-:|:-:|

|Microcontroller board|ESP32 Mini||1|

|IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³||1|

|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)||4|

|Propeller|Hubsan 55 mm||4|

|MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)||4|

|Pull-down resistor|10 kΩ||4|

|3.7V Li-Po battery|LW 952540 (or any compatible by the size)||1|

|Li-Po Battery charger|Any||1|

|Screws for IMU board mounting|M3x5||2|

|Screws for frame assembly|M1.4x5||4|

|Frame bottom part|3D printed⁴:
[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)||1|

|Frame top part|3D printed:
[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)||1|

|Washer for IMU board mounting|3D printed:
[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)||1|

|*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*||1|

|*RC receiver (optional)*|*DF500 or other⁵*||1|

|Wires|28 AWG recommended|||

|Tape, double-sided tape||||

*² — barometer is not used for now.*


*³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*


*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*


*⁵ — you may use any transmitter-receiver pair with SBUS interface.*

Tools required for assembly:

* 3D printer.

* Soldering iron.

* Solder wire (with flux).

* Screwdrivers.

* Multimeter.

Feel free to modify the design and or code, and create your own improved versions of Flix! Send your results to the [official Telegram chat](https://t.me/opensourcequadcopterchat), or directly to the author ([E-mail](mailto:[email protected]), [Telegram](https://t.me/okalachev)).

## Schematics (version 1)

### Simplified connection diagram



Motor connection scheme:



Complete diagram is Work-in-Progress.

### Notes

* Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins.

* Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins:

  |IMU pin|ESP32 pin|

  |-|-|

  |GND|GND|

  |3.3V|3.3V|

  |SCL *(SCK)*|SVP (GPIO18)|

  |SDA *(MOSI)*|GPIO23|

  |SAO *(MISO)*|GPIO19|

  |NCS|GPIO5|

* Solder pull-down resistors to the MOSFETs.

* Connect the motors to the ESP32 Mini using MOSFETs, by following scheme:

  |Motor|Position|Direction|Wires|GPIO|

  |-|-|-|-|-|

  |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12|

  |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13|

  |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14|

  |Motor 3|Front left|Clockwise|Blue & Red|GPIO15|

  Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires.

* Optionally connect the RC receiver to the ESP32's UART2:

  |Receiver pin|ESP32 pin|

  |-|-|

  |GND|GND|

  |VIN|VC (or 3.3V depending on the receiver)|

  |Signal|GPIO4⁶|

*⁶ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.*

### IMU placement

Default IMU orientation in the code is **LFD** (Left-Forward-Down):



In case of using other IMU orientation, modify the `rotateIMU` function in the `imu.ino` file.

See [FlixPeriph documentation](https://github.com/okalachev/flixperiph?tab=readme-ov-file#imu-axes-orientation) to learn axis orientation of other IMU boards.

## Version 0

See the information on the obsolete version 0 in the [corresponding article](docs/version0.md).

## Materials

Subscribe to the Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.

Join the official Telegram chat: https://t.me/opensourcequadcopterchat.

Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.