Stm32f103 FlyBoard

fly_drone

My example drone. (in development)

How to connect: Android phone (AppFlyControl) <-> usb-uart(example: cp2102) <-> uart->rf (STM8S003_AND_SI4463) <-> fly_drone
or:
Android phone (QGroundControl or AppFlyControl) <-wifi-> Linux PC (flyLinuxServer) <-> uart->rf (STM8S003_AND_SI4463) <-> fly_drone

on board:

• DC-DC for 2,3,..S battery operation. To operate on a 1S battery, it is necessary to replace the components to turn off the DC-DC.
• RF SI4463 433MHz radio transceiver. when changing the frequency, you can to change components and programmatically set a different frequency.
• imu mpu6050
• 4pcs 3-pin connector for servo motor/ESC (IMP 1-2 ms) for 4pcs brushed motors need to set mosfet or esc for brushed motors.
• i2c connector, for example: for VL53L0X
• connector for debugging by swdio/uart

For connect brushed motors with esc or servo motor, you can use convertor on attiny13a. example: kicad->tiny_2nmosfet. For connect 4pcs brushed motors, you can use n-mosfet on every channel.

Code:
bootloader (update firmware via RF by FlyLinuxServer)
fly_drone
- mavlink protocol:
-- params list settings(PID, mux chan, motor settings, orientation)
-- RC_CHANNELS
-- COMMAND_LONG - ARM_DISARM/CALIBRATION/REBOOT
-- MSG_STATUSTEXT - logs
- imu, rf, vl53l0x
- acc and gyro calibrate
- for save params and acc calibrate on flash, need to change "flash_params"
- it is compatible with qgroungcontrol (tested on android)

And in repository:
kicad:
- ESC_atmega8 - esc for brashless motor. (need to changed frequency by fuses)
- stm32f103_Fly.. - fly_drone project
- tiny_2nmosfet - esc for connection 4 brashed motors(independent 4 in, 4 out)

video fly_drone.mpg in video repository