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| # Flix | ||
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| **Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch. | ||
| Minimal **Flix** quadcopter firmware implementation for the [book](https://quadcopter.dev). | ||
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| <table> | ||
| <tr> | ||
| <td align=center><strong>Version 1</strong> (3D-printed frame)</td> | ||
| <td align=center><strong>Version 0</strong></td> | ||
| </tr> | ||
| <tr> | ||
| <td><img src="docs/img/flix1.jpg" width=500 alt="Flix quadcopter"></td> | ||
| <td><img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter"></td> | ||
| </tr> | ||
| </table> | ||
| See the full code and documentation in the main branch: https://github.com/okalachev/flix. | ||
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| ## Features | ||
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| * Simple and clean Arduino based source code. | ||
| * Acro and Stabilized flight using remote control. | ||
| * Precise simulation using Gazebo. | ||
| * [In-RAM logging](docs/log.md). | ||
| * Command line interface through USB port. | ||
| * Wi-Fi support. | ||
| * MAVLink support. | ||
| * Control using mobile phone (with QGroundControl app). | ||
| * Completely 3D-printed frame. | ||
| * *Textbook and videos for students on writing a flight controller¹.* | ||
| * *Position control and autonomous flights using external camera¹*. | ||
| * [Building and running instructions](docs/build.md). | ||
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| *¹ — planned.* | ||
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| ## It actually flies | ||
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| See detailed demo video (for version 0): https://youtu.be/8GzzIQ3C6DQ. | ||
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| <a href="https://youtu.be/8GzzIQ3C6DQ"><img width=500 src="https://i3.ytimg.com/vi/8GzzIQ3C6DQ/maxresdefault.jpg"></a> | ||
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| Version 1 test flight: https://t.me/opensourcequadcopter/42. | ||
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| <a href="https://t.me/opensourcequadcopter/42"><img width=500 src="docs/img/flight-video.jpg"></a> | ||
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| ## Simulation | ||
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| The simulator is implemented using Gazebo and runs the original Arduino code: | ||
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| <img src="docs/img/simulator.png" width=500 alt="Flix simulator"> | ||
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| See [instructions on running the simulation](docs/build.md). | ||
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| ## Components (version 1) | ||
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| |Type|Part|Image|Quantity| | ||
| |-|-|:-:|:-:| | ||
| |Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1| | ||
| |IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|<img src="docs/img/gy-91.jpg" width=90 align=center><img src="docs/img/icm-20948.jpg" width=100>|1| | ||
| |Motor|8520 3.7V brushed motor (shaft 0.8mm).<br>Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).|<img src="docs/img/motor.jpeg" width=100>|4| | ||
| |Propeller|Hubsan 55 mm|<img src="docs/img/prop.jpg" width=100>|4| | ||
| |MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4| | ||
| |Pull-down resistor|10 kΩ|<img src="docs/img/resistor10k.jpg" width=100>|4| | ||
| |3.7V Li-Po battery|LW 952540 (or any compatible by the size)|<img src="docs/img/battery.jpg" width=100>|1| | ||
| |Battery connector cable|MX2.0 2P female|<img src="docs/img/mx.png" width=100>|1| | ||
| |Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1| | ||
| |Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2| | ||
| |Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4| | ||
| |Frame bottom part|3D printed⁴:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<img src="docs/img/frame1.jpg" width=100>|1| | ||
| |Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1| | ||
| |Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|2| | ||
| |*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*|<img src="docs/img/tx.jpg" width=100>|1| | ||
| |*RC receiver (optional)*|*DF500 or other⁵*|<img src="docs/img/rx.jpg" width=100>|1| | ||
| |Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>|| | ||
| |Tape, double-sided tape|||| | ||
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| *² — barometer is not used for now.*<br> | ||
| *³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br> | ||
| *⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br> | ||
| *⁵ — you may use any transmitter-receiver pair with SBUS interface.* | ||
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| Tools required for assembly: | ||
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| * 3D printer. | ||
| * Soldering iron. | ||
| * Solder wire (with flux). | ||
| * Screwdrivers. | ||
| * Multimeter. | ||
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| Feel free to modify the design and or code, and create your own improved versions of Flix! Send your results to the [official Telegram chat](https://t.me/opensourcequadcopterchat), or directly to the author ([E-mail](mailto:okalachev@gmail.com), [Telegram](https://t.me/okalachev)). | ||
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| ## Schematics (version 1) | ||
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| ### Simplified connection diagram | ||
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| <img src="docs/img/schematics1.svg" width=800 alt="Flix version 1 schematics"> | ||
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| Motor connection scheme: | ||
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| <img src="docs/img/mosfet-connection.png" height=400 alt="MOSFET connection scheme"> | ||
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| Complete diagram is Work-in-Progress. | ||
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| ### Notes | ||
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| * Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins. | ||
| * Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins: | ||
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| |IMU pin|ESP32 pin| | ||
| |-|-| | ||
| |GND|GND| | ||
| |3.3V|3.3V| | ||
| |SCL *(SCK)*|SVP (GPIO18)| | ||
| |SDA *(MOSI)*|GPIO23| | ||
| |SAO *(MISO)*|GPIO19| | ||
| |NCS|GPIO5| | ||
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| * Solder pull-down resistors to the MOSFETs. | ||
| * Connect the motors to the ESP32 Mini using MOSFETs, by following scheme: | ||
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| |Motor|Position|Direction|Wires|GPIO| | ||
| |-|-|-|-|-| | ||
| |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12| | ||
| |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13| | ||
| |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14| | ||
| |Motor 3|Front left|Clockwise|Blue & Red|GPIO15| | ||
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| Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires. | ||
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| * Optionally connect the RC receiver to the ESP32's UART2: | ||
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| |Receiver pin|ESP32 pin| | ||
| |-|-| | ||
| |GND|GND| | ||
| |VIN|VCC (or 3.3V depending on the receiver)| | ||
| |Signal|GPIO4⁶| | ||
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| *⁶ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.* | ||
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| ### IMU placement | ||
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| Default IMU orientation in the code is **LFD** (Left-Forward-Down): | ||
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| <img src="docs/img/gy91-lfd.svg" width=400 alt="GY-91 axes"> | ||
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| In case of using other IMU orientation, modify the `rotateIMU` function in the `imu.ino` file. | ||
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| See [FlixPeriph documentation](https://github.com/okalachev/flixperiph?tab=readme-ov-file#imu-axes-orientation) to learn axis orientation of other IMU boards. | ||
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| ## Version 0 | ||
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| See the information on the obsolete version 0 in the [corresponding article](docs/version0.md). | ||
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| ## Materials | ||
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| Subscribe to the Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. | ||
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| Join the official Telegram chat: https://t.me/opensourcequadcopterchat. | ||
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| Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/. | ||
| <img src="docs/img/flix1.jpg" width=500 alt="Flix quadcopter"> |