MCopter

MCopter

A quadcopter built from scratch.

Currently there is a working PCB for the flight controller + basic firmware.

Working (kind-of) features--

• Simple PID flight stabilization
• Radio communication via external radio module (both controlling the copter and sending telemtry data to the controller
• Simple remote controller made out of an old RC toy radio + arduino pro mini + nRF24

Planned

• Designing custom frame and 3D print it
• Using an embedded radio solution (probably nRF24 based)
• Using 9-axis fusion instead of 6-axis to avoid yaw drift.

The Hardware

This is version 2.0 of the flight controller PCB. The PCB is design with 2 layers to keep down the cost, in the future I might redesign it with 4 layers to make it smaller. I'm also using 0805 to allow for easy hand-soldering.

The microcontroller is STM32F410RBT, a powerful 32-bit ARM Cortex M4 with hardware floating point unit and a lot of useful peripherals.

Other major components (sensors):

• ICM-20689; MEMES gyroscope + accelerometer. This is the newer generation of the popular MPU-6050 used in a lot of commercial flight controllers.
• MAG3110; A magnetometer.
• MS5637; A Barometer

The ICM-20689 togheter with the MAG3110 can be used for 9-axis fusion to provide better heading, avoid yaw drifting and togheter with the barometer also have an height based control instead of throttle based one.

• TODO take a better picture...