https://github.com/yezzfusl/aerobrainstm

Autonomous STM32H743ZI Drone System
https://github.com/yezzfusl/aerobrainstm

autonomous-systems drone drone-software embedded-systems flight-control image-processing microcontroller real-time-control robotics sensor-fusion stm32

Last synced: 17 days ago
JSON representation

Autonomous STM32H743ZI Drone System

• Host: GitHub
• URL: https://github.com/yezzfusl/aerobrainstm
• Owner: yezzfusl
• Created: 2024-08-11T17:07:55.000Z (6 months ago)
• Default Branch: main
• Last Pushed: 2024-08-26T21:07:37.000Z (5 months ago)
• Last Synced: 2024-11-14T14:43:34.535Z (3 months ago)
• Topics: autonomous-systems, drone, drone-software, embedded-systems, flight-control, image-processing, microcontroller, real-time-control, robotics, sensor-fusion, stm32
• Language: C
• Homepage:
• Size: 21.5 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

README

        
# AeroBrainSTM

Autonomous STM32H743ZI Drone System

## Hardware Requirements

- STM32H743ZI microcontroller board

- GPS module (e.g., NEO-6M)

- LIDAR sensor (e.g., TFMini Plus)

- OV7670 camera module

- Telemetry module (e.g., XBee)

- IMU (Inertial Measurement Unit)

- Drone frame and motors

## Software Requirements

- STM32CubeIDE (version 1.8.0 or later)

- ARM GCC Toolchain

- OpenOCD for flashing

## Key Features

1. **Flight Control**: Implements PID-based stabilization for roll, pitch, and yaw.

2. **GPS Navigation**: Utilizes GPS data for waypoint navigation.

3. **Obstacle Avoidance**: Uses LIDAR data to detect and avoid obstacles.

4. **Path Planning**: Generates and follows optimal paths between waypoints.

5. **Telemetry**: Enables real-time data transmission and remote command reception.

6. **Computer Vision**: Incorporates image processing for scene analysis and decision-making.

## Build Instructions

1. Clone the repository:

`git clone https://github.com/yezzfusl/AeroBrainSTM.git`

`cd AeroBrainSTM`

2. Build the project:

`make`

3. Flash the binary to the STM32H743ZI:

`openocd -f interface/stlink.cfg -f target/stm32h7x.cfg -c "program build/autonomous_drone.elf verify reset exit"`

## Usage

1. Power on the drone system.

2. Use the telemetry interface to:

- Add waypoints

- Start the mission

- Monitor drone status

- Abort the mission if necessary

## Technical Details

- **Microcontroller**: STM32H743ZI (Arm Cortex-M7, 400 MHz, 2 MB Flash, 1 MB RAM)

- **GPS**: UART communication, NMEA sentence parsing

- **LIDAR**: I2C or UART communication, distance measurement up to 12m

- **Camera**: OV7670 module, DCMI interface, 640x480 resolution

- **Telemetry**: UART communication, custom protocol for data exchange

- **Image Processing**: Basic edge detection using Sobel operator

- **Path Planning**: A* algorithm for optimal path generation

- **Obstacle Avoidance**: Reactive avoidance based on LIDAR readings

## Performance Considerations

- The main control loop runs at 100 Hz (10ms cycle time).

- Image processing is computationally intensive and may impact overall system performance.

- The system uses DMA for efficient data transfer from peripherals.

## Safety Features

- Geofencing to restrict flight area

- Failsafe routines for loss of GPS or telemetry signal

- Low battery voltage detection and auto-return

## Future Improvements

- Implement advanced computer vision algorithms for object detection and tracking

- Enhance path planning with dynamic obstacle avoidance

- Add support for multi-drone coordination

## License

This project is licensed under the MIT License - see the LICENSE file for details.

## Contributors

- [@YEZZFUSL]