This Arduino flight controller is designed for controlling a drone using an ESP32 microcontroller, various sensors, and PID control loops. It utilizes an NRF24L01 radio module for communication with a remote control, and Bluetooth for parameter tuning. The flight controller reads data from sensors, calculates PID outputs, and controls four motors accordingly.
If you're interested in this project, visit my Instagram where I've made a few videos about the making process.
- ESP32 microcontroller
- NRF24L01 radio module
- BME280 barometric pressure sensor
- HMC5883 magnetometer
- 4x BLDC motors
- 4x 30A ESC
- DJI F450 frame
- Battery
- Wire.h
- SPI.h
- RF24.h
- BME280I2C.h
- Adafruit_Sensor.h
- Adafruit_HMC5883_U.h
- ESP32Servo.h
- BluetoothSerial.h
- EEPROM.h
InitInput(): Initializes all the required components and sets up motor pins.ReadSensors(): Reads sensor data and updates pitch, roll, yaw, and altitude inputs.CalculatePID(): Implements PID control to calculate motor outputs based on sensor inputs and setpoints.GetRadio(): Reads remote control inputs via NRF24L01 and updates setpoints.Bluetooth(): Listens for Bluetooth commands to adjust PID parameters.ControlMotors(): Controls the four motors based on PID outputs.GetRadioTaskFunction(): Task function for parallel execution, handling radio communication and Bluetooth.
If the drone exceeds pitch or roll angles of ±45 degrees, a flight error is triggered.
- The flight controller is set up for a quadcopter configuration.
- Radio and Bluetooth communication are handled in parallel using FreeRTOS tasks.
- Implement altitude hold using barometric pressure sensor.
- Fine-tune PID parameters for optimal performance.
- Enhance error handling and implement failsafe mechanisms.
- Measuring battery voltage.
- Using Radiomaster PWM receiver and transmitter.
This code is a basic example, and adjustments may be needed for specific drone configurations. Use it at your own risk.
