Arduino / Teensy Multicopter

This is my WIP custom arduino quadcopter firmware.

Media:

• Flight Clips
• (OLD) First Successful Test Flight

Talks:

• Talk Describing Code @ Pittsburgh Code & Supply Meetup
• Slides from talk @ Abstractions conference

Blog posts:

• Reading Remote Control Receiver Values with Arduino

Similar projects:

• Phoenix Flight Controller
• BlueCopter

Hardware

• Teensy 3.2
• Chinese GY-87 breakout board (MPU6050 gyro/acc, MHC5883L magnetometer, BMP180 barometer)
• HobbyKing HK-T6A transmitter/receiver
• 3DR telemetry
• HobbyKing Spec FPV250 V2 Quad Copter ARF Combo Kit
• 12A Afro ESCs with SimonK firmware (supporting oneshot125)

Building

The Makefiles (located in the build_scripts directory) are based on the awesome Arduino-Makefile project. They are modified for use with Teensy 3.2, Teensyduino 1.28 and Arduino 1.6.8.

• make - build project
• make burn - builds project, sends reboot signal to the Teensy to put it into the bootloader mode, and then uses teensy_loader_cli to upload to the Teensy on the command line without any GUI applications.
• make monitor - open connection to Teensy serial port
• make clean - remove compiled files in build directories

UI

The UI is an Atom application using ReactJS and node-serialport.