Project/eduard ionut.rizea (#1345)

* Realizat Documentatia

Signed-off-by: Rizea Eduard <edyrizea@gmail.com>

* Added Schematic and updated progress

Signed-off-by: Rizea Eduard <edyrizea@gmail.com>

* Added schematic

Signed-off-by: Rizea Eduard <edyrizea@gmail.com>

* Renamed the images

Signed-off-by: Rizea Eduard <edyrizea@gmail.com>

* Last changes

Signed-off-by: Rizea Eduard <edyrizea@gmail.com>

* Final commit

Signed-off-by: Rizea Eduard <edyrizea@gmail.com>

* ...

Signed-off-by: Rizea Eduard <edyrizea@gmail.com>

* ...

Signed-off-by: Rizea Eduard <edyrizea@gmail.com>

---------

Signed-off-by: Rizea Eduard <edyrizea@gmail.com>

Author: Edy1298

website/versioned_docs/version-acs_cc/project/2026/eduard_ionut.rizea/images/drone.webp

@@ -49,6 +49,10 @@ Started soldering the ESCs and Motors.
 Started soldering the squid cables that connect the ESC's and Nucleo to the battery. 
 
 ### Week 19 - 25 May
+Finished the squid cables and powered all the motors.
+Added independent PWM output to all four ESCs with 1000-2000µs pulses at 50Hz.
+Created a rudimetary stabilisation alogrithm using the pid crate.  
+![Schematic](images/drone.webp)
 
 ## Hardware
 
@@ -57,7 +61,7 @@ The project uses the Nucleo board as a flight controller. It receives data from
 ### Schematics
 
 <!-- Place your KiCAD or similar schematics here in SVG format. -->
-![Schematic](images/schematic.webp)
+![Schematic](images/schematic1.webp)
 
 ### Bill of Materials
 
@@ -86,6 +90,12 @@ The format is
 | Library | Description | Usage |
 |---------|-------------|-------|
 | [embassy-stm32](https://github.com/embassy-rs/embassy) | Hardware Abstraction Layer | Handling I2C, SPI, and PWM peripherals |    
+| [embassy-executor](https://github.com/embassy-rs/embassy) | Async executor for embedded systems | Running the PWM reader, IMU/PID and mixer tasks concurrently on a single-threaded executor |
+| [pid](https://crates.io/crates/pid) | Generic PID controller implementation | Three independent rate-mode PID loops for roll, pitch, and yaw stabilization |
+| [embassy-time](https://github.com/embassy-rs/embassy) | Timekeeping, delays, and timeouts | Fixed-rate scheduling of the 250 Hz PID loop, the 50 Hz mixer loop, and the 3 ms RC pulse timeout |
+| [embassy-embedded-hal](https://github.com/embassy-rs/embassy) | Async adapters for embedded-hal traits | Bridging Embassy peripherals to standard embedded-hal interfaces |
+| [embedded-hal-async](https://github.com/rust-embedded/embedded-hal) | Async traits for embedded peripherals | Type abstractions used by Embassy drivers |
+| [embassy-sync](https://github.com/embassy-rs/embassy) | Async synchronization primitives | Mutex-protected shared state for throttle and PID corrections between tasks |
 
 ## Links