Imported from GitHub: Mathijsvb/MulticopterFCS · commit c890f2c · license BSD-3-Clause

Description

Multicopter Flight Control System

README

About the project

MulticopterFCS is a flight controller build from the ground up. It is meant to be a development platform mainly focused on autonomous indoor flying of multi-rotor drones.

Warning The current version still contains design errors.

Diagram	Board

Key features

On board:

• High performance MCU (STM32H743 running up to 480 MHz)
• Accelerometer and gyro (MPU6000)
• Magnetometer (HMC5883L)
• Pressure and temperature sensor (BMP388)
• 64-Kbit of F-RAM (FM24C64B)
• 2x RGB LED

Connectors:

quantity	purpose	connector type	Comment
1	SWD/JTAG	1.27 mm pitch 10-pin	For programming and debugging
1	SDIO	Micro SD Card	For logging data during the flight
1	I²C	JST SH 4-pin	External I²C connector
2	UART	JST SH 4-pin	External UART connector
1	Battery	JST SH 2-pin	Used to measure battery voltage
1	LED	JST SH 8-pin	To control external LEDs
1	IBUS	2.54 mm pitch header	IBUS used by external receivers to communicate remote control signals
6	PWM	2.54 mm pitch header	PWM is used to control external ESC's
1	Buzzer	2.54 mm pitch header	For connecting a buzzer
1	RPLiDAR	2.50 mm MOLEX SPOX 7-pin	This connector will be used for the RPLiDAR
2	USB	USB Mini B	USB1 goes directly to the MCU, USB2 gets converted to serial first

Roadmap:

1. ✔️ Project orientation
2. ✔️ Deciding on components
3. ✔️ Creating schematic
4. ✔️ Routing PCB
5. ✔️ Manufacturing the PCB
6. Testing
   1. ✔️ Programming MCU
   2. ❌ Gyro/Accelerometer
      1. ✔️ Find a the reason for to the Gyro/Accelerometer not working
      • The MPU-6000 seems to need the ability to toggle CS which the current board does not support. Board revision is needed.
      2. Pick new Gyro/Accelerometer
   3. ❌ Magnetometer
      • Can't be detected with an I2C scanner, probably dead.
   4. Barometric pressure sensor
      1. ✔️ Check if it can be found with the I2C scanner.
      2. Check is values are sensible.
   5. ❌ On board F-RAM
      • Wrong IC choice on my part.
   6. ESC control
   7. IBUS communication
   8. Buzzer
   9. ✔️ LEDs
7. Writing drivers
   1. Gyro/Accelerometer
   2. Magnetometer
   3. Barometric pressure sensor
   4. On board F-RAM
   5. ESC control
   6. IBUS communication
   7. Buzzer and LEDs
   8. SD Card
   9. USB
8. Signal processing
   1. Data conversion and correction
   2. Data filtering
   3. Extended Kalman filter implementation for sensor fusion
   4. PI(D) controller
9. FSM controller
10. Data logging on the SD Card

Future goals on the roadmap are likely to be Simultaneous Localization and Mapping using a LiDAR implementation. Based on this, autonomous indoor flight could be developed.

Licensing

This system is still a work in progress, use anything inside this repository at your own risk.

This an open source project released under the BSD 3-Clause License.