A DIY quadcopter with an STM32F3-Discovery
To build a self-stabilizing quadcopter controlled via bluetooth.
- STM32F3-Discovery
- RN42-I/RM Bluetooth module
| 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 |
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%] |
| 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 |
- Download and install Virtualbox and Vagrant
- Download the virtual machine
vagrant up && vagrant ssh - In the folder
source: runmaketo build andmake burnto program the device
- Connect to the bluetooth device
- Start the application and select the correct device
See LICENSE