README.md

STM32 Flight controller

DIY quadcopter flight controller from scratch, two boards and software.

Project structure is described on wiki page.

Software

Software part implements all basic quadcopter flight control features. Configuration commands and settings are on wiki page.

• Rotation speed stabilization using gyroscope readings.
• Attitude stabilization using accelerometer/gyroscope readings.
• Yaw stabilization using gyroscope readings.
• Yaw stabilization using magnetometer/gyroscope readings.
• Acceleration stabilization using accelerometer readings.
• Altitude stabilization using barometer/accelerometer readings.
• Position stabilization using GNSS/accelerometer/magnetometer readings.
• Configuration through Wi-Fi.
• Dshot-300 and Dshot-600 ESC control protocols.
• IRC Tramp VTX control.
• OSD for digital VTX through MSP.
• Telemetry and control through eLRS.
• Terminal configuration tool.
• Qt5 based GUI configuration tool for desktop and android.

STM32F405 based board

• MCU: STM32F405RGT6
• Crystall oscillator: 20 Mhz
• DC-DC converter for control board: TPS5430 (external)
• Control board voltage regulator: LDL1117S33R-3.3
• Accelerometer/Gyroscope: ICM-42688-P
• Magnetometer: QMC5883L
• Remote control: ERLS CRSF receiver
• Telemetry/debug/config: ESP8285
• Barometer: DPS368

STM32H723 based board

Schematic

• MCU: STM32H723VGT6
• Crystall oscillator: 20 Mhz
• DC-DC converter for control board: TPS5430
• Control board voltage regulator: LDL1117S33R
• Accelerometer/Gyroscope: ICM-42688-P
• Magnetometer: QMC5883L
• External magnetometer: LIS3MDL
• Remote control: ERLS CRSF receiver
• Telemetry/debug/config: ESP8285
• Barometer: DPS368

The quadcopter used for testing

• Motors: 1404, 3800 kV
• Props: 3030
• Battery: 14.8v (4s), 1300 mAh, 120c
• Frame: carbon fiber
• Canopy, VTX mount: 3d printed PLA
• Landing pads: EVA foam