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SSQ - Super Simple Quadcopter

This is yet another flight controller written in Arduino. However the purpose of this project differs from the others. The intention is to create a very basic stabilization system that is easy to understand and thus making it easier to extend with custom sensors.

What it does not

  • It does not support any GPS what so ever.
  • It hasn’t any support for magnetic sensor which may cause it to drift in yaw.
  • No altitude hold (it does not contain any barometric sensor).
  • It does not support different type of aircraft, only quadcopters in X mode.
  • It has only support for Atmega 32u4 and MPU6050.

Benefits

  • The lack of support for different sensor makes the code easy to read and extend on your own.
  • Since it runs on ATmega32u4 (e.g. Arduino Micro, ProMicro) and MPU6050 it is very easy and cheap to create your own hardware, around $10.
  • Since there aren’t a lot of sensors to poll the main loop could be run at more than 200Hz.

Needed hardware

  • Preferable an Arduino ProMicro or any that uses the ATmega32u4 chip.
  • An MPU5060 break out board
Or
  • Any Multiwii fligh controller with a MPU6050 and the 32u4 chip. (e.g. NanoWii)

Out of the box specifications

  • High resolution hardware PWM output, ATmega32u4 allows 10bits instead of the 8 bits the Atmega328p uses.
  • Cascade PIDs, which has proven to be more stable than running single PIDs.
  • Main loop runs at 225Hz (compare to ardupilot, multiwii which runs at 100Hz).
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