https://github.com/royyandzakiy/stm32-flightcontroller

STM32F103-based drone flight controller with MPU6050, ExpressLRS, PID control, and motor mixing. Developed in Arduino IDE & PlatformIO
https://github.com/royyandzakiy/stm32-flightcontroller

drone expresslrs flight-controller platformio stm32f103

Last synced: 3 days ago
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STM32F103-based drone flight controller with MPU6050, ExpressLRS, PID control, and motor mixing. Developed in Arduino IDE & PlatformIO

• Host: GitHub
• URL: https://github.com/royyandzakiy/stm32-flightcontroller
• Owner: royyandzakiy
• Created: 2025-02-04T09:24:20.000Z (6 days ago)
• Default Branch: master
• Last Pushed: 2025-02-04T13:27:50.000Z (6 days ago)
• Last Synced: 2025-02-04T13:32:34.808Z (6 days ago)
• Topics: drone, expresslrs, flight-controller, platformio, stm32f103
• Language: C++
• Homepage:
• Size: 2.93 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# STM32 Flight Controller 🚀

This repository hosts an STM32F103-based flight controller for drones, featuring MPU6050, ExpressLRS, PID control, and motor mixing. Built with PlatformIO for lightweight, efficient UAV control.

## Key Features ✨

- MPU6050: Gyroscope & accelerometer for precise motion tracking.

- ExpressLRS: Low-latency radio communication with Crossfire (CRSF).

- PID Loop: Custom control loop for stable flight.

- Motor Mixing: Generates motor signals from PID outputs.

- Bit Banging: Faster pin control for improved performance.

- Profiling: Optimizes software metrics for efficiency.

## Development Notes ⚙️

- [x] compile STM32F103 project in Arduino IDE & PlatformIO

- [x] basic functions running: MPU6050, ELRS

- [ ] PID loop, bit banging

- [ ] motor mixer, motor PWM control

- [ ] loop optimization

- [ ] LED indicator

- [ ] more control functions

## Requirements 🗒️

- Uses MPU6050 as gyro & accelerometer

- Does bit banging as means of setting pins for faster cycle time

- Uses ExpressLRS as radio reciever and crossfire as communication protocol

- Implements PID loop to control attitude

- Generates motor signals through motor mixing from processed values from PID loop

- Implements profiler to detect software metrics