MicroQuad

An ESP32 based micro-quadcopter project [Under Development]

This repo is based on the ESP32 architecture to implement a custom Bluetooth controlled 'smart' quadcopter, with a custom PCB design, using the BetaFPV 65S frame + brushless motors, it is in the early stages.

Ultimately, this project will be broken up into components that will make it easier for open-source developers to build their own quadcopter designs. It will enable sensor fusion for common IMU chips (like the MPU6000, MPU6050, ICM426XX, as well as magnetometers and GPS units) to allow for easy customization.

Features

ESP32-S3 SoC
ICM42688P Accelerometer + Gyro
RYS8830 GPS
QMC5883L Magnetometer
BME280 Air Pressure Sensor
VL53L1CX Range Finder
MCP73871T Battery Mgmt + Load Sharing
Breakout Board with USB-C via Small Ribbon Cable

To Build & Flash

Run idf.py build to check if the project builds
Run idf.py flash to flash to a connected ESP32

To Debug in VS Code

Launch OpenOCD using the command idf.py openocd
In VS Code's debug menu click 'Start Debugging' with the Eclipse CDT Remote target

Notes on Hacks

Currently there are a few hardcoded hacks here:
In VS Code's .vscode/settings.json, we are currently hardcoding a lot of esp32 executable paths which is not ideal because it will break whenever versions change
Also in settings.json we are hard coding the device serial port which is even hackier

TODO List

Add iOS controller codebase
Add PCB schematic + gerber files
Update firmware to utilize radians everywhere in the codebase instead of using degrees
Clean up the DebugHelper, there is a lot of now-unncessesary code in there
Break up the codebase in general, for example the core stability logic should be extracted to a different component from the Logger