STM32F429_Quadrotor

• During the building process of Quadrotor software system, developers often face some kind of problem that the developement environment is limited by the hardware standards of flight control board; therefore, this project use official STM32F429 for Quadrotor system, it's more convenient and fulliling the maker's spirit.

• This is a quadcopter flight control project based on QCopterFlightControl2.0. The software is being heavily modified in order to adapt FreeRTOS derived multi-threaded and priority-based computing environment. That means we could manage manay task and implement mult-thread application. User can see the sensor status when you try to design or monitor you rotor. A special designed shell enironment could help user to send some command or do some actions on rotors.

[DEMO] : Youtube Video

Remote Controller

　　 　　　

this responsitory supports 3 kinds of remote controller : FUTABA TC7, DEVO v10, WFLY WFT08X. see /program/config/QuadCopterConfig.h

Connection pins

NOTE : to prevent the conflict of pin from happening, while modifying the code, we should avoid to use these pins for LCD :

License

• The QCopterFlightControl project is copyrighted by Hom19910422 and governed by MIT license.

• This project references UrsusPilot, which is copyrighted under MIT license.

• The lineoise is copyrighted under BSD license and release by antirez

• Detailed license file can be found in LICENSE.

• The STM32F429_Quadrotor is released as MIT License and welcome to send any feedback to us!

Features

• Support three commercial R/C remoters(Futaba R/C, devention R/C, WFLY R/C)
• Support FreeRTOS and linenoise text editing environment with a Shell
• Real time plotting data from GUI by Python on ground station
• Display data from LCD ili9341
• Online tuning PID parameters

Shell commands

• clear - Clear the screen
• help - The informations of the shell
• monitor - A QuadCopter Status Monitor
• ps - Show all processes [Block]
• sdinfo - Show SD card information
• sdsave - Storage control parameter to SD card
• showData - Display all the data of flight from reading IMU
• tuning - Online tuning PID parameters

QuadCopter Status Monitor

After enable the command line, you can type :

• resume - Disable the commandline mode
• reset - Drop the unsaved settings
  • reset [quadcopter parameter] / reset all
• quit - Quit the monitor
• help - The QuadCopter Status Monitor Manual
• set - Set the parameter of the quadcopter - set [quadcopter parameter] [value] / set update

Linenoise hotkeys

• To get more informations, please read the LINENOISE.md

TOOLS

To see the python plot of data in pythonGUI folder, you need to install

$ sudo apt-get install python

$ sudo apt-get install pyserial

$ sudo apt-get install python-numpy

$ sudo apt-get install python-matplotlib

TODO

• Filter improvement
• Height control implementation
• Position control and speed control
• GPS navigation and auto-pilot
• Image processing with ov7670