base on Making an ESP32-based quadcopter from scratch # Flix **Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch. <table> <tr> <td align=center><strong>Version 1</strong> (3D-printed frame)</td> <td align=center><strong>Version 0</strong></td> </tr> <tr> <td><img src="docs/img/flix1.jpg" width=500 alt="Flix quadcopter"></td> <td><img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter"></td> </tr> </table> ## Features * Simple and clean Arduino based source code. * Acro and Stabilized flight using remote control. * Precise simulation using Gazebo. * [In-RAM logging](docs/log.md). * Command line interface through USB port. * Wi-Fi support. * MAVLink support. * Control using mobile phone (with QGroundControl app). * Completely 3D-printed frame. * Textbook for students on writing a flight controller ([in development](https://quadcopter.dev)). * *Position control and autonomous flights using external camera¹*. * [Building and running instructions](docs/build.md). *¹ — planned.* ## It actually flies See detailed demo video (for version 0): https://youtu.be/8GzzIQ3C6DQ. <a href="https://youtu.be/8GzzIQ3C6DQ"><img width=500 src="https://i3.ytimg.com/vi/8GzzIQ3C6DQ/maxresdefault.jpg"></a> Version 1 test flight: https://t.me/opensourcequadcopter/42. <a href="https://t.me/opensourcequadcopter/42"><img width=500 src="docs/img/flight-video.jpg"></a> ## Simulation The simulator is implemented using Gazebo and runs the original Arduino code: <img src="docs/img/simulator.png" width=500 alt="Flix simulator"> See [instructions on running the simulation](docs/build.md). ## Components (version 1) |Type|Part|Image|Quantity| |-|-|:-:|:-:| |Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1| |IMU (and barometer²) board|GY‑91 (or other MPU‑9250/MPU‑6500 board), ICM‑20948³|<img src="docs/img/gy-91.jpg" width=90 align=center><img src="docs/img/icm-20948.jpg" width=100>|1| |Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="docs/img/motor.jpeg" width=100>|4| |Propeller|Hubsan 55 mm|<img src="docs/img/prop.jpg" width=100>|4| |MOSFET (transistor)|100N03A or [analog](https://t.me/opensourcequadcopter/33)|<img src="docs/img/100n03a.jpg" width=100>|4| |Pull-down resistor|10 kΩ|<img src="docs/img/resistor10k.jpg" width=100>|4| |3.7V Li-Po battery|LW 952540 (or any compatible by the size)|<img src="docs/img/battery.jpg" width=100>|1| |Li-Po Battery charger|Any|<img src="docs/img/charger.jpg" width=100>|1| |Screws for IMU board mounting|M3x5|<img src="docs/img/screw-m3.jpg" width=100>|2| |Screws for frame assembly|M1.4x5|<img src="docs/img/screw-m1.4.jpg" height=30 align=center>|4| |Frame bottom part|3D printed⁴:<br>[`flix-frame.stl`](docs/assets/flix-frame.stl) [`flix-frame.step`](docs/assets/flix-frame.step)|<img src="docs/img/frame1.jpg" width=100>|1| |Frame top part|3D printed:<br>[`esp32-holder.stl`](docs/assets/esp32-holder.stl) [`esp32-holder.step`](docs/assets/esp32-holder.step)|<img src="docs/img/esp32-holder.jpg" width=100>|1| |Washer for IMU board mounting|3D printed:<br>[`washer-m3.stl`](docs/assets/washer-m3.stl) [`washer-m3.step`](docs/assets/washer-m3.step)|<img src="docs/img/washer-m3.jpg" width=100>|1| |*RC transmitter (optional)*|*KINGKONG TINY X8 or other⁵*|<img src="docs/img/tx.jpg" width=100>|1| |*RC receiver (optional)*|*DF500 or other⁵*|<img src="docs/img/rx.jpg" width=100>|1| |Wires|28 AWG recommended|<img src="docs/img/wire-28awg.jpg" width=100>|| |Tape, double-sided tape|||| *² — barometer is not used for now.*<br> *³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br> *⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br> *⁵ — you may use any transmitter-receiver pair with SBUS interface.* Tools required for assembly: * 3D printer. * Soldering iron. * Solder wire (with flux). * Screwdrivers. * Multimeter. Feel free to modify the design and or code, and create your own improved versions of Flix! Send your results to the [official Telegram chat](https://t.me/opensourcequadcopterchat), or directly to the author ([E-mail](mailto:[email protected]), [Telegram](https://t.me/okalachev)). ## Schematics (version 1) ### Simplified connection diagram <img src="docs/img/schematics1.svg" width=800 alt="Flix version 1 schematics"> Motor connection scheme: <img src="docs/img/mosfet-connection.png" height=400 alt="MOSFET connection scheme"> Complete diagram is Work-in-Progress. ### Notes * Power ESP32 Mini with Li-Po battery using VCC (+) and GND (-) pins. * Connect the IMU board to the ESP32 Mini using VSPI, power it using 3.3V and GND pins: |IMU pin|ESP32 pin| |-|-| |GND|GND| |3.3V|3.3V| |SCL *(SCK)*|SVP (GPIO18)| |SDA *(MOSI)*|GPIO23| |SAO *(MISO)*|GPIO19| |NCS|GPIO5| * Solder pull-down resistors to the MOSFETs. * Connect the motors to the ESP32 Mini using MOSFETs, by following scheme: |Motor|Position|Direction|Wires|GPIO| |-|-|-|-|-| |Motor 0|Rear left|Counter-clockwise|Black & White|GPIO12| |Motor 1|Rear right|Clockwise|Blue & Red|GPIO13| |Motor 2|Front right|Counter-clockwise|Black & White|GPIO14| |Motor 3|Front left|Clockwise|Blue & Red|GPIO15| Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires. * Optionally connect the RC receiver to the ESP32's UART2: |Receiver pin|ESP32 pin| |-|-| |GND|GND| |VIN|VC (or 3.3V depending on the receiver)| |Signal|GPIO4⁶| *⁶ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.* ### IMU placement Default IMU orientation in the code is **LFD** (Left-Forward-Down): <img src="docs/img/gy91-lfd.svg" width=400 alt="GY-91 axes"> In case of using other IMU orientation, modify the `rotateIMU` function in the `imu.ino` file. See [FlixPeriph documentation](https://github.com/okalachev/flixperiph?tab=readme-ov-file#imu-axes-orientation) to learn axis orientation of other IMU boards. ## Version 0 See the information on the obsolete version 0 in the [corresponding article](docs/version0.md). ## Materials Subscribe to the Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter. Join the official Telegram chat: https://t.me/opensourcequadcopterchat. Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/. ", Assign "at most 3 tags" to the expected json: {"id":"10176","tags":[]} "only from the tags list I provide: [{"id":77,"name":"3d"},{"id":89,"name":"agent"},{"id":17,"name":"ai"},{"id":54,"name":"algorithm"},{"id":24,"name":"api"},{"id":44,"name":"authentication"},{"id":3,"name":"aws"},{"id":27,"name":"backend"},{"id":60,"name":"benchmark"},{"id":72,"name":"best-practices"},{"id":39,"name":"bitcoin"},{"id":37,"name":"blockchain"},{"id":1,"name":"blog"},{"id":45,"name":"bundler"},{"id":58,"name":"cache"},{"id":21,"name":"chat"},{"id":49,"name":"cicd"},{"id":4,"name":"cli"},{"id":64,"name":"cloud-native"},{"id":48,"name":"cms"},{"id":61,"name":"compiler"},{"id":68,"name":"containerization"},{"id":92,"name":"crm"},{"id":34,"name":"data"},{"id":47,"name":"database"},{"id":8,"name":"declarative-gui "},{"id":9,"name":"deploy-tool"},{"id":53,"name":"desktop-app"},{"id":6,"name":"dev-exp-lib"},{"id":59,"name":"dev-tool"},{"id":13,"name":"ecommerce"},{"id":26,"name":"editor"},{"id":66,"name":"emulator"},{"id":62,"name":"filesystem"},{"id":80,"name":"finance"},{"id":15,"name":"firmware"},{"id":73,"name":"for-fun"},{"id":2,"name":"framework"},{"id":11,"name":"frontend"},{"id":22,"name":"game"},{"id":81,"name":"game-engine "},{"id":23,"name":"graphql"},{"id":84,"name":"gui"},{"id":91,"name":"http"},{"id":5,"name":"http-client"},{"id":51,"name":"iac"},{"id":30,"name":"ide"},{"id":78,"name":"iot"},{"id":40,"name":"json"},{"id":83,"name":"julian"},{"id":38,"name":"k8s"},{"id":31,"name":"language"},{"id":10,"name":"learning-resource"},{"id":33,"name":"lib"},{"id":41,"name":"linter"},{"id":28,"name":"lms"},{"id":16,"name":"logging"},{"id":76,"name":"low-code"},{"id":90,"name":"message-queue"},{"id":42,"name":"mobile-app"},{"id":18,"name":"monitoring"},{"id":36,"name":"networking"},{"id":7,"name":"node-version"},{"id":55,"name":"nosql"},{"id":57,"name":"observability"},{"id":46,"name":"orm"},{"id":52,"name":"os"},{"id":14,"name":"parser"},{"id":74,"name":"react"},{"id":82,"name":"real-time"},{"id":56,"name":"robot"},{"id":65,"name":"runtime"},{"id":32,"name":"sdk"},{"id":71,"name":"search"},{"id":63,"name":"secrets"},{"id":25,"name":"security"},{"id":85,"name":"server"},{"id":86,"name":"serverless"},{"id":70,"name":"storage"},{"id":75,"name":"system-design"},{"id":79,"name":"terminal"},{"id":29,"name":"testing"},{"id":12,"name":"ui"},{"id":50,"name":"ux"},{"id":88,"name":"video"},{"id":20,"name":"web-app"},{"id":35,"name":"web-server"},{"id":43,"name":"webassembly"},{"id":69,"name":"workflow"},{"id":87,"name":"yaml"}]" returns me the "expected json"