https://github.com/zegervdv/quadcopter

Quadcopter using the STM32F3 Discovery board
https://github.com/zegervdv/quadcopter

Last synced: 3 months ago
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Quadcopter using the STM32F3 Discovery board

• Host: GitHub
• URL: https://github.com/zegervdv/quadcopter
• Owner: zegervdv
• License: mit
• Created: 2013-12-22T19:04:04.000Z (over 12 years ago)
• Default Branch: master
• Last Pushed: 2018-08-10T15:25:30.000Z (almost 8 years ago)
• Last Synced: 2025-05-13T00:03:09.901Z (about 1 year ago)
• Language: C
• Size: 5.29 MB
• Stars: 9
• Watchers: 5
• Forks: 3
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# STM-Quadcopter

A DIY quadcopter with an STM32F3-Discovery

## Goals

To build a self-stabilizing quadcopter controlled via bluetooth.

## Components

* STM32F3-Discovery

* RN42-I/RM Bluetooth module

### Pin Mapping

| Pin  | Function                       |

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

| PC10 | USART3 TX - Bluetooth comm.    |

| PC11 | USART3 RX - Bluetooth comm.    |

| PC12 | GPIO OUT - Reset Bluetooth     |

| PD0  | GPIO IN - Connection Bluetooth |

| PC6  | PWM - Left Back motor          |

| PC7  | PWM - Left Front motor         |

| PC8  | PWM - Right Front motor        |

| PC9  | PWM - Right Back motor         |

| PC1  | ADC1 - Battery Voltage         |

## Communication

### Receiving

The data sent from the quadcopter has following formatting:

| Byte  | Name     | Value     |

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

| 0-1   | Sync     | 0x5555    |

| 2-5   | Roll     | [-π, π]   |

| 6-9   | Pitch    | [-π, π]   |

| 10-13 | Yaw      | [-π, π]   |

| 14-17 | Altitude | [0, 10m]  |

| 18-21 | Battery  | [0, 100%] |

### Transmitting

| Byte  | Name      | Value        |

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

| 0     | Indicator |              |

| 1-4   | Roll      | [-π/6, π/6]  |

| 5-8   | Pitch     | [-π/6, π/6]  |

| 9-12  | Throttle  | [-100, 100]  |

| 13-16 | Yaw       | [-π, π]      |

| 17    | CRC       |              |

| 18    | End       | Newline '\n' |

| Indicator | Mode            |

| ---       | ---             |

| 00        | Normal Command  |

| FF        | Takeoff/Land    |

| other     | Reserved        |

## Getting Started

### Compiling and programming

  - Download and install Virtualbox and Vagrant

  - Download the virtual machine `vagrant up && vagrant ssh`

  - In the folder `source`: run `make` to build and `make burn` to program the

    device

### Controllers

  - Connect to the bluetooth device

  - Start the application and select the correct device

## License

See `LICENSE`