🚁 TY Innovation QuadCopter-X Project

introduction

This is a repository that a quadrotor drone structed form Zero by tianyuan.

soft & hard Architecture

Hardware

• MCU: CH32V103 Information creative friendly.

• Sensor: MPU6050 (6-axis IMU) QMC5883 magnatic .

• Radio: NRF24L01 Wireless module can be replaced by SBUS/CRSF.

• Power: 3.85V High Votage Li-ion battery 4-Way PWM generator by Timer.

Software

• PWM generator With Deadaera Control.
• Extended Kalman Filter.
• Mix control Matrix.

Build & Flash

• Install the official CH32 toolchain released by QinHeng.

• Open the software directory with MounRiver Studio / VSCode + RISC-V extension.

• Click Build to generate the *.elf firmware.

• Use a WCH-Link to flash the compiled firmware to the MCU.

• Power the quadcopter and verify that sensors and radio links initialize correctly.

Enjoy Flying!

If you improve the hardware or understand the code better, you are welcome to submit your modifications via Pull Request.