STM32 Flight controller

Implementing flight controller for a small quadcopter. UAV is controlled through ELRS transmitter.

Parameters

• Motors: 1204
• Props: 3016
• Battery: 7.4v (2s), 1300 mAh
• Frame: plywood

Weight

• PCB and ESCs: ~57g
• Motors + props: 27g
• Battery: 64g
• Frame + wires: ~59g
• Total weight: 207g

Devices

• MCU: STM32F303CBT6
• Crystall oscillator: 16 Mhz
• DC-DC converter for control board and camera: TPS5430
• Control board voltage regulator: AMS1117-3.3
• Accelerometer/Gyroscope: MPU6050
• Magnetometer: QMC5883L
• Remote control: ERLS CRSF receiver
• Telemetry/debug: ESP8266 (ESP-01s)
• Barometer: HP206C

UAV commands:

Debug and configuration is performed through AP named copter created by this UAV. Listed commands should be sent using UDP/IP to address 192.168.3.1.

• info (mpu | qmc | hp | values | pid) -- mpu6050/qmc5883L/hp206c/control values/PID data
• r -- turn off motors
• e -- turn on motors
• c [altitude] -- recalibrate
• calib mag (on|off) -- enter/escape magnetometer calibration mode
• pid (tilt|stilt|yaw|syaw|sclimb) (p|i|d) {val} -- set tilt/tilt speed/yaw/yaw speed/climb speed PID P/I/D value
• pid (tilt|yaw) (single/double) -- switch to single/double PID loop mode for tilt/yaw
• compl {val} -- set complimentary filter's time constant for tilt
• lpf (climb|pressure) {val} -- set low-pass filter's time constant for climb speed/pressure
• adj (roll|pitch|yaw) {val} -- set offset for roll/pitch/yaw (only for dual PID loop mode)
• adj mag (x0|y0|z0|xscale|yscale|zscale|decl) {val} -- set x/y/z offset, x/y/z scale or magnetic declination for magnetometer