Aiming to improve in embedded firmware, electrical engineering, and software design.
--- Features --------------------------------------------------------------
- Makefile + SWD GDB upload and debug
- FreeRTOS
- BSP is essentially cores/teensy3
- Dispatch queue for asynchronous and interval scheduling (100us tick interrupt)
- Publish / subscribe communication framework
- MPU9250 @ 1kHz gyro / accel / mag on 10MHz SPI
- FrSky XM+ mini on UART SBUS
- 400Hz PWM outputs for actuator control signals
- 250Hz attitude estimation, 1kHz control. Complimentary filter attitude estimator using euler angles, [WIP] quaternion estimator w/ EKF
- Data streaming in csv format over serial
- Interactive plotting and visualizations with python and OpenGL
Things I'd like to do...
- Telemetry radio to host
- MAVLink over telemetry radio for QGC communication
- Full quaternion estimation and control
- Optical flow for position hold
--- Tools -------------------------------------------------------------------
- make / cmake
- GDB
- JLink mini
- Siglent SDS1202X-E
- MCUXpresso
- Lipow battery charger
--- Components -------------------------------------------------------
- Teensy 3.6 microcontroller board
- MPU9250 3-axis gyro / accel / mag
- FrSky XM+ Mini radio transmitter
- Blade Theory XL kit from amazon. Removed camera, radios, and flight controller board (leave the power distribution board attached).