🚀 Predicones - Rocket Flight Controller

Advanced flight controller firmware for model rockets and CanSat missions

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📋 Table of Contents

• Overview
• Features
• Hardware Requirements
• System Architecture
• Installation
• Configuration
• Flight Data
• Contributing
• License
• Safety Notice

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🎯 Overview

Predicones is a comprehensive flight controller firmware designed for model rockets and CanSat missions. Built on the STM32H7 platform, it provides real-time attitude stabilization, GPS tracking, telemetry, and data logging capabilities.

Key Capabilities

Feature	Description
LQR Stabilization	Linear Quadratic Regulator-based fin control
GPS Tracking	Real-time position monitoring with NEO-M8N
Telemetry	Wireless data transmission via XBee/LoRa
Data Logging	High-speed SD card logging at 50Hz
Deployment System	Automated parachute and CanSat deployment
Sensor Fusion	MPU9250 IMU + BMP388 altimeter

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✨ Features

Flight Control

• 🎯 4-Fin Active Stabilization - LQR-based attitude control
• 📊 Real-time Sensor Fusion - 9-DOF IMU data processing
• 🔄 Dual Deployment System - CanSat + Parachute release

Sensors

• 📡 MPU9250 - 9-axis IMU (accelerometer, gyroscope, magnetometer)
• 🌡️ BMP388 - High-precision barometric altimeter
• 🛰️ NEO-M8N - GPS module for position tracking

Communication

• 📻 XBee Telemetry - Real-time wireless data transmission
• 📡 LoRa Support - Long-range communication option
• 💾 SD Card Logging - High-speed data recording

Safety

• 🪂 Automated Deployment - Altitude-based parachute deployment
• ⚡ Graceful Degradation - Continues operation if components fail
• 📝 Comprehensive Logging - Flight data for post-flight analysis

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🔧 Hardware Requirements

Microcontroller

• STM32H7A3ZIQ or compatible STM32H7 series

Sensors

Component	Model	Interface
IMU	MPU9250	I2C (0x69)
Altimeter	BMP388	SPI1
GPS	NEO-M8N	USART2 (38400 baud)

Communication

Component	Model	Interface
Telemetry	XBee Pro	USART6 (115200 baud)
LoRa	SX1278	SPI (optional)

Actuators

Component	Model	Interface
Fin Servos (4x)	Feetech SCServo	Half-duplex UART
Deployment Servos (2x)	Feetech SCServo	Half-duplex UART

Storage

• MicroSD Card (FAT32, Class 10 recommended)

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🏗️ System Architecture

┌─────────────────────────────────────────────────────────────┐
│                    STM32H7 Flight Controller                 │
├─────────────────────────────────────────────────────────────┤
│                                                              │
│  ┌──────────┐    ┌──────────┐    ┌──────────┐              │
│  │ MPU9250  │    │  BMP388  │    │ NEO-M8N  │              │
│  │  (IMU)   │    │(Altitude)│    │  (GPS)   │              │
│  └────┬─────┘    └────┬─────┘    └────┬─────┘              │
│       │I2C            │SPI1           │USART2              │
│       └───────┬───────┴───────────────┘                    │
│               ▼                                             │
│       ┌───────────────┐                                    │
│       │  LQR Control  │                                    │
│       │    Engine     │                                    │
│       └───────┬───────┘                                    │
│               │                                             │
│    ┌──────────┼──────────┐                                 │
│    ▼          ▼          ▼                                 │
│ ┌──────┐  ┌──────┐  ┌──────┐  ┌──────┐                    │
│ │Servo1│  │Servo2│  │Servo3│  │Servo4│  (Fin Control)     │
│ └──────┘  └──────┘  └──────┘  └──────┘                    │
│                                                             │
│ ┌──────┐  ┌──────┐                                         │
│ │Servo5│  │Servo6│  (Deployment)                          │
│ └──────┘  └──────┘                                         │
│                                                             │
│       ┌──────────┐    ┌──────────┐                         │
│       │ SD Card  │    │   XBee   │                         │
│       │ (SPI3)   │    │ (USART6) │                         │
│       └──────────┘    └──────────┘                         │
└─────────────────────────────────────────────────────────────┘

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🚀 Installation

Prerequisites

• Arduino IDE 2.0+ or PlatformIO
• STM32 board support package
• Required libraries (see below)

Required Libraries

Install via Arduino Library Manager:

- Wire (built-in)
- SPI (built-in)
- Adafruit_Sensor
- Adafruit_BMP3XX
- MPU9250 (hideakitai/MPU9250)
- SCServo
- SdFat
- TinyGPS++ (optional, for GPS parsing)

Setup Steps

1. Clone the repository

   git clone https://github.com/Mohit1053/predicones.git
   cd predicones

2. Install STM32 board support

   • In Arduino IDE: File → Preferences → Additional Board URLs
   • Add: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
   • Tools → Board → Boards Manager → Search "STM32" → Install

3. Install required libraries

   • Sketch → Include Library → Manage Libraries
   • Search and install each required library

4. Select board and port

   • Tools → Board → STM32 Boards → Select your STM32H7 variant
   • Tools → Port → Select appropriate COM port

5. Upload firmware

   • Open Fins_Deployment_SD_Integrated.ino
   • Click Upload

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⚙️ Configuration

Pin Assignments

Edit the following defines in the main sketch if your hardware differs:

// IMU
#define MPU_ADDRESS 0x69

// BMP388 (SPI1)
#define BMP_CS   7
#define BMP_SCK  13
#define BMP_MISO 12
#define BMP_MOSI 11

// SD Card (SPI3)
#define SD_CS_PIN PD14

// Servo IDs
const int SERVO_FIN_IDS[4] = {1, 2, 3, 4};

Flight Parameters

Adjust these values based on your rocket configuration:

// Control gains (LQR)
const float K[4] = {...};  // Tune for your rocket

// Deployment altitudes
const float CANSAT_DEPLOY_ALT = 500.0;  // meters
const float CHUTE_DEPLOY_ALT = 300.0;   // meters

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📊 Flight Data

The system logs comprehensive flight data to the SD card:

Log Format (CSV)

timestamp,altitude,velocity,ax,ay,az,gx,gy,gz,lat,lon,servo1,servo2,servo3,servo4,state

Sample Data Files

• FLIGHT_DATA.CSV - Example flight data
• FLIGHT_DATA_1.CSV - Additional flight recording

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📁 Project Structure

predicones/
├── .github/
│   ├── workflows/
│   │   └── ci.yml
│   ├── ISSUE_TEMPLATE.md
│   └── PULL_REQUEST_TEMPLATE.md
├── src/
│   ├── Fins_Deployment_SD_Integrated.ino  # Main integrated firmware
│   ├── Fins.ino                           # Fin control module
│   ├── deployment_GPS_integrated.ino      # Deployment system
│   ├── telemetry.ino                      # XBee telemetry
│   ├── BMP_final_final.ino               # Altimeter module
│   ├── NEO_M8N_working.ino               # GPS module
│   ├── SD_card_working.ino               # SD logging module
│   └── LORA_working.ino                  # LoRa communication
├── data/
│   ├── FLIGHT_DATA.CSV
│   └── FLIGHT_DATA_1.CSV
├── docs/
│   └── wiring-diagram.md
├── .gitignore
├── CHANGELOG.md
├── CONTRIBUTING.md
├── LICENSE
└── README.md

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🤝 Contributing

Contributions are welcome! Please read our Contributing Guidelines first.

Quick Start

1. Fork the repository
2. Create a feature branch (git checkout -b feature/improvement)
3. Commit changes (git commit -m 'feat: add new feature')
4. Push to branch (git push origin feature/improvement)
5. Open a Pull Request

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📄 License

This project is licensed under the MIT License - see the LICENSE file for details.

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⚠️ Safety Notice

IMPORTANT: This is experimental rocket flight controller firmware.

• Always follow local regulations for model rocketry
• Test thoroughly on the ground before flight
• Use appropriate safety measures during launches
• Never fly near people, buildings, or airports
• The authors are not responsible for any damage or injury

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👤 Author

Predicones Flight Controller

• GitHub: @Mohit1053

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🙏 Acknowledgments

• STM32duino community
• Adafruit for sensor libraries
• Feetech for servo documentation
• Model rocketry community

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Made with ❤️ for the rocketry community