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