ESP32 Flight Controller

I have chosen ESP32 as a flight controller mainly because of its cost, WiFi & BLE capabilities. Which one can exploit to integrate with ROS.

Watch Tutorial videos

Dorm Flight

Flight Demonstration & few guidelines before building

Understanding PID Controller

Tuning of PID Controller Gains via ESP32 Webserver WiFi

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Testing

Before attempting flight, ensure all components are functioning correctly by testing them individually using the codes provided in the testing folder:

• Use /ESP32-Flight-controller-/test/reciever_pwm_esp32/reciever_pwm_esp32.ino to verify the signals from the receiver and transmitter.

• Use /ESP32-Flight-controller-/test/measure_angles_from_mpu/measure_angles_from_mpu.ino to confirm the IMU is measuring angles accurately.

• Use /ESP32-Flight-controller-/test/motor_calibration_esp32/motor_calibration_esp32.ino to calibrate all ESCs and ensure motors are properly synchronized.

• Use /ESP32-Flight-controller-/test/Voltage_measurement_esp32/Voltage_measurement_esp32.ino to validate the voltage sensing circuit. This part is not yet impleneted in the main Flight controller (Can be skipped).

• Use /workspaces/ESP32-Flight-controller-/test/anglemode_flightcontroller_ver3.1_PID_values_tuning_webserver/anglemode_flightcontroller_ver3.1_PID_values_tuning_webserver.ino to tune the PID gains of your drone. Do this step when you have calibrated your drone and ensured proper motor direction, propeller direction is as per the hand drawn cirucit diagram in /ESP32-Flight-controller-/resources/Circuit diagram HANDDRAWN only IMU_01.pdf

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Flying

Before flying the drone, follow these steps:

1. IMU Calibration

   • Run the calibration code from the /ESP32-Flight-controller-/src/Gyro_accelerometer_calibration.ino to calibrate the IMU. Ensure the quadcopter is on a level surface during this process.
   • Record the calibrated values generated by the calibration code, check the serial monitor.

2. Update the Main Flight Code

   • Enter the calibrated IMU values into the /ESP32-Flight-controller-/src/Anglemode_flightcontroller_ver3.1.ino code's void Setup() with these values before uploading it to the ESP32.

3. Tune PID gains

   • Refer the PID tuning video in the above YT links and tune your quadcopter, refer the /ESP32-Flight-controller-/test/anglemode_flightcontroller_ver3.1_PID_values_tuning_webserver/anglemode_flightcontroller_ver3.1_PID_values_tuning_webserver.ino code for seamless WIFI pid gains tuning. For a F450 frame the PID values should be more or less the same as the values in the original code. For other drone frames it might varry in a slight manner.

4. Prepare for Flight

   • Double-check motor rotations and propeller orientations as per the schematic.
   • Ensure all connections are secure.

5. Safety First!!!! -The quadcopter motors and propellers possess significant destructive energy. Always:

   • Conduct initial tests outdoors.
   • Verify that all propellers are installed in the correct direction and that motor rotations match the schematic.
   • Recheck motor and propeller functionality before uploading the main flight code.

6. You're Ready to fly!

   • Perform an initial outdoor test for safety.

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References

• Joop Brooking
• Carbon Aeronautics