The software of a quadcopter.
This repository hosts the software part of a quadcopter project. This quadcopter won't be the most efficient one: I create all its feature.
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
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 1motors.c: this file allows us to drive motors through ESCs, using the timers 0 and 2usart.c: it provides functions to use the USART module of the Atmega328pi2c.c: with its functions, we can use the TWI module of the Atmega328p as a Mastermpu9150.c(WIP): library which provide the functions to get inertial informations about the quadcopterimu.c(not implemented): provides all the functions needed to obtain workable (ie. filtered and analysed) inertial informationspid.c(not implemented): this library is in charge of the enslavement of the attitude of the quadcoptercom.c(not impemented): help us to communicate with the remote