LuchoCopter

The software of a quadcopter.

1. Presentation

This repository hosts the software part of a quadcopter project. This quadcopter won't be the most efficient one: I create all its feature.

2. Hardware

Currently, my prototype is based on several hadrwares:

• An ATMEL AVR Atmega328p, the heart of the quadcopter: a modest 8bits microcontroler which nevertheless is powerfull enough to drive a quadcopter, with a frequecy of 16MHz.
• The MPU-9150, from Invensense: it's an awesome 9 DOF inertial measurement unit (IMU) which allows the quadcopter to remain upright.
• An Xbee module, used to communicate with the radio controler through serial connection.
• Four electronic speed controllers (ESCs) Turnigy Multistar from Hobbyking: they drive the motors.

This quadcopter is also piloted by a DIY remote.

The connections of the Atmega328p are as follows:

• PD0 (RX) to Xbee DOUT
• PD1 (TX) to Xbee DIN
• PD5 to the front right motor
• PD3 to the back right motor
• PD6 to the back left motor
• PB3 to the front left motor
• PC5 (scl) to the SCL pin of the MPU-9150
• PC6 (sda) to the SDA pin of the MPU-9150

3. Software

The quadcopter is still a work in progress: all the files I work on are on the WIP directory. The project is divided in several source files:

• eon.c: through its functions, we can mesure the time, using timer 1
• motors.c: this file allows us to drive motors through ESCs, using the timers 0 and 2
• usart.c: it provides functions to use the USART module of the Atmega328p
• i2c.c: with its functions, we can use the TWI module of the Atmega328p as a Master
• mpu9150.c (WIP): library which provide the functions to get inertial informations about the quadcopter
• imu.c (not implemented): provides all the functions needed to obtain workable (ie. filtered and analysed) inertial informations
• pid.c (not implemented): this library is in charge of the enslavement of the attitude of the quadcopter
• com.c (not impemented): help us to communicate with the remote