/zephly

A simple quadrotor flight controller based on zephyr.

Primary LanguageJupyter NotebookApache License 2.0Apache-2.0

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Zephly

Warning
 This software is in very early development state.

Attempt to implement a flight controller based on zephyr rtos.

Getting started

  1. Follow the zephyr Getting Started Instructions and ensure system and python dependencies are installed. Furthermore consider installing the zephyr toolchain to simplify later usage.

  2. Create an empty folder for the fc development and use west to download the sources

    mkdir fcdev
west init -m https://github.com/helo9/zephly --mr main fcdev
cd fcdev
west update
west zephyr-export

    west has downloaded the zephly repo into fcdev/zephly

  3. Build for Copter Control 3D to verify installation:

    cd zephly/
west build --board=openpilot_cc3d -s app

Overview

controller.drawio
Figure 1. Controller Diagram

The AttitudeRateController takes radio commands from the pilot as setpoint and uses the gyroscope measurements to calculate moment and force demand. This is translated into four individual motor outputs by our mixer. The Output forwards them to the motor speed controllers.