mirror of
https://github.com/okalachev/flix.git
synced 2025-07-27 01:29:33 +00:00
Major documentation update, the new drone version files released
This commit is contained in:
Oleg Kalachev
parent
0397b3a736
commit
84368738b4
139
README.md
139
README.md
@ -1,8 +1,17 @@
|
||||
# flix
|
||||
# Flix
|
||||
|
||||
**flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
|
||||
**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
|
||||
|
||||
<img src="docs/img/flix.jpg" width=500 alt="Flix quadcopter">
|
||||
<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
|
||||
|
||||
@ -15,55 +24,123 @@
|
||||
* MAVLink support.
|
||||
* Control using mobile phone (with QGroundControl app).
|
||||
* ESCs with reverse mode support.
|
||||
* *Textbook and videos for students on writing a flight controller\*.*
|
||||
* *Completely 3D-printed frame*.*
|
||||
* *Position control and autonomous flights using external camera\**.
|
||||
* Completely 3D-printed frame.
|
||||
* *Textbook and videos for students on writing a flight controller¹.*
|
||||
* *Position control and autonomous flights using external camera¹*.
|
||||
* [Building and running instructions](docs/build.md).
|
||||
|
||||
*\* — planned.*
|
||||
*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>
|
||||
|
||||
See YouTube demo video: https://youtu.be/8GzzIQ3C6DQ.
|
||||
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
|
||||
|
||||
Simulation in Gazebo using a plugin that runs original Arduino code is implemented:
|
||||
The simulator is implemented using Gazebo and runs the original Arduino code:
|
||||
|
||||
<img src="docs/img/simulator.png" width=500 alt="Flix simulator">
|
||||
|
||||
## Schematics
|
||||
See [instructions on running the simulation](docs/build.md).
|
||||
|
||||
<img src="docs/img/schematics.svg" width=800 alt="Flix schematics">
|
||||
## Components (version 1)
|
||||
|
||||
You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/) of the drone.
|
||||
|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 board)|<img src="docs/img/gy-91.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 [compatible](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 printed: [`flix-frame.stl`](docs/assets/flix-frame.stl)|<img src="docs/img/frame1.jpg" width=100>|1|
|
||||
|Frame top part|3D printed: [`esp32-holder.stl`](docs/assets/esp32-holder.stl)|<img src="docs/img/esp32-holder.jpg" width=100>|1|
|
||||
|Washer for IMU board mounting|3D printed: [`washer-m3.stl`](docs/assets/washer-m3.stl)|<img src="docs/img/washer-m3.jpg" width=100>|1|
|
||||
|*RC transmitter (optional)*|*KINGKONG TINY X8 or other³*|<img src="docs/img/tx.jpg" width=100>|1|
|
||||
|*RC receiver (optional)*|*DF500 or other³*|<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||||
|
||||
|
||||
*\* — SBUS inverter is not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
|
||||
*² — barometer is not used for now.*
|
||||
|
||||
## Components (version 0)
|
||||
*³ — you may use any transmitter-receiver pair with SBUS interface.*
|
||||
|
||||
|Component|Type|Image|Quantity|
|
||||
|-|-|-|-|
|
||||
|ESP32 Mini|Microcontroller board|<img src="docs/img/esp32.jpg" width=100>|1|
|
||||
|GY-91|IMU+LDO+barometer board|<img src="docs/img/gy-91.jpg" width=100>|1|
|
||||
|K100|Quadcopter frame|<img src="docs/img/frame.jpg" width=100>|1|
|
||||
|8520 3.7V brushed motor (**shaft 0.8mm!**)|Motor|<img src="docs/img/motor.jpeg" width=100>|4|
|
||||
|Hubsan 55 mm| Propeller|<img src="docs/img/prop.jpg" width=100>|4|
|
||||
|2.7A 1S Dual Way Micro Brush ESC|Motor ESC|<img src="docs/img/esc.jpg" width=100>|4|
|
||||
|KINGKONG TINY X8|RC transmitter|<img src="docs/img/tx.jpg" width=100>|1|
|
||||
|DF500 (SBUS)|RC receiver|<img src="docs/img/rx.jpg" width=100>|1|
|
||||
||~~SBUS inverter~~*|<img src="docs/img/inv.jpg" width=100>|~~1~~|
|
||||
|3.7 Li-Po 850 MaH 60C|Battery|||
|
||||
||Battery charger|<img src="docs/img/charger.jpg" width=100>|1|
|
||||
||Wires, connectors, tape, ...|||
|
||||
||3D-printed frame parts|||
|
||||
Tools required for assembly:
|
||||
|
||||
*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
|
||||
* 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:okalachev@gmail.com), [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 GY-91 board to the ESP32 Mini using VSPI , power it using 3.3V and GND pins:
|
||||
|
||||
|GY-91 pin|ESP32 pin|
|
||||
|-|-|
|
||||
|GND|GND|
|
||||
|3.3V|3.3V|
|
||||
|SCK|SVP (GPIO18)|
|
||||
|MOSI|GPIO23|
|
||||
|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|GPIO4 ⁴|
|
||||
|
||||
*⁴ – 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.*
|
||||
|
||||
## Version 0
|
||||
|
||||
See the information on the obsolete version 0 in the [corresponding article](docs/version0.md).
|
||||
|
||||
## Materials
|
||||
|
||||
Subscribe to Telegram-channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
|
||||
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/.
|
||||
|
||||
BIN
docs/assets/esp32-holder.stl
Normal file
BIN
docs/assets/esp32-holder.stl
Normal file
Binary file not shown.
BIN
docs/assets/flix-frame.stl
Normal file
BIN
docs/assets/flix-frame.stl
Normal file
Binary file not shown.
BIN
docs/assets/washer-m3.stl
Normal file
BIN
docs/assets/washer-m3.stl
Normal file
Binary file not shown.
@ -78,9 +78,26 @@ cd flix
|
||||
make simulator
|
||||
```
|
||||
|
||||
### Flight
|
||||
### Setup and flight
|
||||
|
||||
Use USB remote control or [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) (with *Virtual Joystick* setting enabled) to control the drone. *Auto-Center Throttle* setting **should be disabled**.
|
||||
#### Control with smartphone
|
||||
|
||||
1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
|
||||
2. Connect your smartphone to the same Wi-Fi network as the machine running the simulator.
|
||||
3. If you're using a virtual machine, make sure that its network is set to the **bridged** mode with Wi-Fi adapter selected.
|
||||
4. Run the simulation.
|
||||
5. Open QGroundControl app. It should connect and begin showing the virtual drone's telemetry automatically.
|
||||
6. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
|
||||
7. Use the virtual joystick to fly the drone!
|
||||
|
||||
#### Control with USB remote control
|
||||
|
||||
1. Connect your USB remote control to the machine running the simulator.
|
||||
2. Run the simulation.
|
||||
3. Calibrate the RC using `cr` command in the command line interface and stop the simulation.
|
||||
4. Copy the calibration results to the source code (`gazebo/joystick.h`).
|
||||
5. Run the simulation again.
|
||||
6. Use the USB remote control to fly the drone!
|
||||
|
||||
## Firmware
|
||||
|
||||
@ -119,12 +136,33 @@ Use USB remote control or [QGroundControl mobile app](https://docs.qgroundcontro
|
||||
|
||||
See other available Make commands in the [Makefile](../Makefile).
|
||||
|
||||
### Setup and flight
|
||||
|
||||
Before flight you need to calibrate the accelerometer:
|
||||
|
||||
1. Open Serial Monitor in Arduino IDE (use use `make monitor` command in the command line).
|
||||
2. Type `ca` command there.
|
||||
3. Copy calibration results to the source code (`flix/imu.ino`).
|
||||
|
||||
#### Control with smartphone
|
||||
|
||||
1. Install [QGroundControl mobile app](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html#android) on your smartphone.
|
||||
2. Power the drone using the battery.
|
||||
3. Connect your smartphone to the appeared `flix` Wi-Fi network.
|
||||
4. Open QGroundControl app. It should connect and begin showing the drone's telemetry automatically.
|
||||
5. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
|
||||
6. Use the virtual joystick to fly the drone!
|
||||
|
||||
#### Control with remote control
|
||||
|
||||
Before flight using remote control, you need to calibrate it:
|
||||
|
||||
1. Open Serial Monitor in Arduino IDE (use use `make monitor` command in the command line).
|
||||
2. Type `cr` command there.
|
||||
3. Copy calibration results to the source code (`flix/rc.ino`).
|
||||
|
||||
Then you can use your remote control to fly the drone!
|
||||
|
||||
### Firmware code structure
|
||||
|
||||
See [firmware overview](firmware.md) for more details.
|
||||
|
||||
## Setup
|
||||
|
||||
Before flight in simulation and on the real drone, you need to calibrate your remote control. Use drone's command line interface (`make monitor` on the real drone) and type `cr` command. Copy calibration results to the source code (`flix/rc.ino` and/or `gazebo/joystick.h`).
|
||||
|
||||
On the real drone, you also need to calibrate the accelerometer and the gyroscope. Use `ca` and `cg` commands for that. Copy calibration results to the source code (`flix/imu.ino`).
|
||||
|
||||
BIN
docs/img/100n03a.jpg
Normal file
BIN
docs/img/100n03a.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 27 KiB |
BIN
docs/img/battery.jpg
Normal file
BIN
docs/img/battery.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 32 KiB |
BIN
docs/img/esp32-holder.jpg
Normal file
BIN
docs/img/esp32-holder.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 9.3 KiB |
BIN
docs/img/flight-video.jpg
Normal file
BIN
docs/img/flight-video.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 79 KiB |
BIN
docs/img/flix1.jpg
Normal file
BIN
docs/img/flix1.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 89 KiB |
BIN
docs/img/frame1.jpg
Normal file
BIN
docs/img/frame1.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 11 KiB |
BIN
docs/img/mosfet-connection.png
Normal file
BIN
docs/img/mosfet-connection.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 38 KiB |
BIN
docs/img/resistor10k.jpg
Normal file
BIN
docs/img/resistor10k.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 12 KiB |
256
docs/img/schematics1.svg
Normal file
256
docs/img/schematics1.svg
Normal file
@ -0,0 +1,256 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
|
||||
viewBox="0 0 1920 1080" style="enable-background:new 0 0 1920 1080;" xml:space="preserve">
|
||||
<style type="text/css">
|
||||
.st0{clip-path:url(#SVGID_00000116955662310502408250000008996271717606231736_);fill:#FFFFFF;}
|
||||
.st1{clip-path:url(#SVGID_00000116955662310502408250000008996271717606231736_);fill:#0076BA;}
|
||||
.st2{clip-path:url(#SVGID_00000116955662310502408250000008996271717606231736_);fill:none;stroke:#0076BA;stroke-width:6;}
|
||||
.st3{clip-path:url(#SVGID_00000055674346191406539380000013421132283630177205_);}
|
||||
.st4{fill:#FFFFFF;}
|
||||
.st5{font-family:'Tahoma';}
|
||||
.st6{font-size:60px;}
|
||||
.st7{clip-path:url(#SVGID_00000057846011469822040540000011754501750068092081_);fill:none;stroke:#0076BA;stroke-width:6;}
|
||||
|
||||
.st8{clip-path:url(#SVGID_00000057846011469822040540000011754501750068092081_);fill:none;stroke:#0076BA;stroke-width:6;stroke-dasharray:12,12;}
|
||||
.st9{clip-path:url(#SVGID_00000031912132892401345140000018376817810309323944_);}
|
||||
.st10{letter-spacing:-1;}
|
||||
.st11{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);fill:none;stroke:#D5D5D5;stroke-width:6;}
|
||||
.st12{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);fill:#D5D5D5;}
|
||||
.st13{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);}
|
||||
.st14{font-size:40px;}
|
||||
|
||||
.st15{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);fill:none;stroke:#D5D5D5;stroke-width:6;stroke-dasharray:12,12;}
|
||||
.st16{letter-spacing:-3;}
|
||||
.st17{clip-path:url(#SVGID_00000096022444481931167570000018189382621257791423_);fill:none;stroke:#0076BA;stroke-width:6;}
|
||||
.st18{clip-path:url(#SVGID_00000178923025368094801390000008109591059568692644_);}
|
||||
.st19{clip-path:url(#SVGID_00000170245726615134129150000014803823133490835355_);fill:none;stroke:#D5D5D5;stroke-width:6;}
|
||||
.st20{clip-path:url(#SVGID_00000170245726615134129150000014803823133490835355_);fill:#D5D5D5;}
|
||||
.st21{clip-path:url(#SVGID_00000170245726615134129150000014803823133490835355_);}
|
||||
.st22{clip-path:url(#SVGID_00000170245726615134129150000014803823133490835355_);fill:none;stroke:#FF9300;stroke-width:6;}
|
||||
.st23{clip-path:url(#SVGID_00000137829079020238483810000004945639728221863820_);}
|
||||
.st24{clip-path:url(#SVGID_00000127742992435002359440000017943924755103710901_);fill:none;stroke:#0076BA;stroke-width:6;}
|
||||
.st25{clip-path:url(#SVGID_00000172413095142863711730000006643673940354901182_);}
|
||||
.st26{fill:#333333;}
|
||||
.st27{clip-path:url(#SVGID_00000057841300642942441540000015331613196773382808_);fill:none;stroke:#0076BA;stroke-width:3;}
|
||||
.st28{clip-path:url(#SVGID_00000015346235126698654330000007941041458912523396_);}
|
||||
.st29{font-size:30px;}
|
||||
</style>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_1_" width="1920" height="1080"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000171677823290121104880000004951624621648774806_">
|
||||
<use xlink:href="#SVGID_1_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
|
||||
<rect style="clip-path:url(#SVGID_00000171677823290121104880000004951624621648774806_);fill:#FFFFFF;" width="1920" height="1080"/>
|
||||
<path style="clip-path:url(#SVGID_00000171677823290121104880000004951624621648774806_);fill:#0076BA;" d="M781,353.4h358
|
||||
c8.4,0,13.4,0,16.7,1.4c4.8,1.8,8.6,5.6,10.4,10.4c1.4,3.3,1.4,8.4,1.4,16.7v268.8c0,8.4,0,13.4-1.4,16.7
|
||||
c-1.8,4.8-5.6,8.6-10.4,10.4c-3.3,1.4-8.4,1.4-16.7,1.4H781c-8.4,0-13.4,0-16.7-1.4c-4.8-1.8-8.6-5.6-10.4-10.4
|
||||
c-1.4-3.3-1.4-8.4-1.4-16.7V381.9c0-8.4,0-13.4,1.4-16.7c1.8-4.8,5.6-8.6,10.4-10.4C767.6,353.4,772.6,353.4,781,353.4z"/>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000171677823290121104880000004951624621648774806_);fill:none;stroke:#0076BA;stroke-width:6;" d="
|
||||
M781,353.4h358c8.4,0,13.4,0,16.7,1.4c4.8,1.8,8.6,5.6,10.4,10.4c1.4,3.3,1.4,8.4,1.4,16.7v268.8c0,8.4,0,13.4-1.4,16.7
|
||||
c-1.8,4.8-5.6,8.6-10.4,10.4c-3.3,1.4-8.4,1.4-16.7,1.4H781c-8.4,0-13.4,0-16.7-1.4c-4.8-1.8-8.6-5.6-10.4-10.4
|
||||
c-1.4-3.3-1.4-8.4-1.4-16.7V381.9c0-8.4,0-13.4,1.4-16.7c1.8-4.8,5.6-8.6,10.4-10.4C767.6,353.4,772.6,353.4,781,353.4z"/>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000039115730048533150280000004801426134829330596_" x="737.4" y="353.4" width="445.2" height="325.8"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000016774010820287457580000002865762276517841055_">
|
||||
<use xlink:href="#SVGID_00000039115730048533150280000004801426134829330596_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
<g style="clip-path:url(#SVGID_00000016774010820287457580000002865762276517841055_);">
|
||||
<text transform="matrix(1 0 0 1 877.1631 540.0012)" class="st4 st5 st6">ESP32</text>
|
||||
</g>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000075151113810300876960000013536007874996673433_" width="1920" height="1080"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000107586269070498659130000000925674275700912771_">
|
||||
<use xlink:href="#SVGID_00000075151113810300876960000013536007874996673433_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000107586269070498659130000000925674275700912771_);fill:none;stroke:#0076BA;stroke-width:6;" d="
|
||||
M107.1,424.9h369.6c6.7,0,10.7,0,13.4,1.1c3.9,1.4,6.9,4.4,8.3,8.3c1.1,2.7,1.1,6.7,1.1,13.4v153.2c0,6.7,0,10.7-1.1,13.4
|
||||
c-1.4,3.9-4.4,6.9-8.3,8.3c-2.7,1.1-6.7,1.1-13.4,1.1H107.1c-6.7,0-10.7,0-13.4-1.1c-3.9-1.4-6.9-4.4-8.3-8.3
|
||||
c-1.1-2.7-1.1-6.7-1.1-13.4V447.6c0-6.7,0-10.7,1.1-13.4c1.4-3.9,4.4-6.9,8.3-8.3C96.4,424.9,100.4,424.9,107.1,424.9z"/>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000107586269070498659130000000925674275700912771_);fill:none;stroke:#0076BA;stroke-width:6;stroke-dasharray:12,12;" d="
|
||||
M777.9,846.9h364.3c7.5,0,11.9,0,14.9,1.2c4.3,1.6,7.7,5,9.3,9.3c1.2,3,1.2,7.5,1.2,14.9V974c0,7.5,0,11.9-1.2,14.9
|
||||
c-1.6,4.3-5,7.7-9.3,9.3c-3,1.2-7.5,1.2-14.9,1.2H777.9c-7.5,0-11.9,0-14.9-1.2c-4.3-1.6-7.7-5-9.3-9.3c-1.2-3-1.2-7.5-1.2-14.9
|
||||
V872.4c0-7.5,0-11.9,1.2-14.9c1.6-4.3,5-7.7,9.3-9.3C765.9,846.9,770.4,846.9,777.9,846.9z"/>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000128454988870213717900000008065144461254055839_" x="737.3" y="846.9" width="445.4" height="152.5"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000124119398570885020400000016506660910002275730_">
|
||||
<use xlink:href="#SVGID_00000128454988870213717900000008065144461254055839_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
<g style="clip-path:url(#SVGID_00000124119398570885020400000016506660910002275730_);">
|
||||
<text transform="matrix(1 0 0 1 802.3304 947.0799)"><tspan x="0" y="0" class="st5 st6">RC </tspan><tspan x="92" y="0" class="st5 st6 st10">R</tspan><tspan x="128.2" y="0" class="st5 st6">ecei</tspan><tspan x="232.7" y="0" class="st5 st6">v</tspan><tspan x="262.2" y="0" class="st5 st6">er</tspan></text>
|
||||
</g>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000130607252134697782620000007941153577788369085_" width="1920" height="1080"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000168829390248542060830000011029723519784449157_">
|
||||
<use xlink:href="#SVGID_00000130607252134697782620000007941153577788369085_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
|
||||
M429.1,526.4c96.1,19.6,194.9,26.9,296.4,22l3-0.2"/>
|
||||
<polygon style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:#D5D5D5;" points="726.2,560.4
|
||||
749.5,547.1 724.8,536.5 "/>
|
||||
<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
|
||||
<text transform="matrix(1 0 0 1 571.0244 599.9149)" class="st5 st14">SPI</text>
|
||||
</g>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#D5D5D5;stroke-width:6;stroke-dasharray:12,12;" d="
|
||||
M991.9,843.9c7.9-38.5,9.3-84.5,4.4-137.8l-0.3-3"/>
|
||||
<polygon style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:#D5D5D5;" points="1008.2,704.8
|
||||
993.7,682.3 984.4,707.4 "/>
|
||||
<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
|
||||
<text transform="matrix(1 0 0 1 746.5599 778.8257)"><tspan x="0" y="0" class="st5 st14">SBUS (</tspan><tspan x="122.2" y="0" class="st5 st14">U</tspan><tspan x="148.3" y="0" class="st5 st14">A</tspan><tspan x="172.2" y="0" class="st5 st14 st10">R</tspan><tspan x="196" y="0" class="st5 st14">T</tspan><tspan x="219.8" y="0" class="st5 st14">)</tspan></text>
|
||||
</g>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
|
||||
M1170.5,537.8c72.8,3.7,147.2,3.8,223,0.3l3-0.2"/>
|
||||
<polygon style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:#D5D5D5;" points="1394.1,550
|
||||
1417.5,536.8 1392.9,526 "/>
|
||||
<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
|
||||
<text transform="matrix(1 0 0 1 1236.025 523.2462)" class="st5 st14">PWM</text>
|
||||
</g>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
|
||||
M1612.3,595.6c-10.7,73.2-11.3,149.1-2,227.5l0.4,3"/>
|
||||
<polygon style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:#D5D5D5;" points="1598.5,824.7
|
||||
1613.5,846.9 1622.2,821.6 "/>
|
||||
<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
|
||||
<text transform="matrix(1 0 0 1 1450.277 736.9998)"><tspan x="0" y="0" class="st5 st14 st10">V</tspan><tspan x="22.1" y="0" class="st5 st14">o</tspan><tspan x="43.8" y="0" class="st5 st14">l</tspan><tspan x="53" y="0" class="st5 st14">tage</tspan></text>
|
||||
</g>
|
||||
<g style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);">
|
||||
<text transform="matrix(1 0 0 1 212.8847 595.784)"><tspan x="0" y="0" class="st5 st6">G</tspan><tspan x="40" y="0" class="st5 st6 st16">Y</tspan><tspan x="70.8" y="0" class="st5 st6">-91</tspan></text>
|
||||
</g>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000168829390248542060830000011029723519784449157_);fill:none;stroke:#0076BA;stroke-width:6;" d="
|
||||
M777.9,77.5h364.3c7.5,0,11.9,0,14.9,1.2c4.3,1.6,7.7,5,9.3,9.3c1.2,3,1.2,7.5,1.2,14.9v101.7c0,7.5,0,11.9-1.2,14.9
|
||||
c-1.6,4.3-5,7.7-9.3,9.3c-3,1.2-7.5,1.2-14.9,1.2H777.9c-7.5,0-11.9,0-14.9-1.2c-4.3-1.6-7.7-5-9.3-9.3c-1.2-3-1.2-7.5-1.2-14.9
|
||||
V103c0-7.5,0-11.9,1.2-14.9c1.6-4.3,5-7.7,9.3-9.3C765.9,77.5,770.4,77.5,777.9,77.5z"/>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000137820956330754408580000017691839315522467728_" x="737.3" y="77.5" width="445.4" height="152.5"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000016789657776342930330000013964875638603798149_">
|
||||
<use xlink:href="#SVGID_00000137820956330754408580000017691839315522467728_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
<g style="clip-path:url(#SVGID_00000016789657776342930330000013964875638603798149_);">
|
||||
<text transform="matrix(1 0 0 1 865.0551 177.6901)"><tspan x="0" y="0" class="st5 st6">B</tspan><tspan x="35.6" y="0" class="st5 st6">a</tspan><tspan x="67.1" y="0" class="st5 st6">t</tspan><tspan x="86.7" y="0" class="st5 st6">tery</tspan></text>
|
||||
</g>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000016756559387490335270000000552908433054081441_" width="1920" height="1080"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000171720285722730791730000010936644841389779363_">
|
||||
<use xlink:href="#SVGID_00000016756559387490335270000000552908433054081441_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
|
||||
M925.7,233.1c-5.3,27.2-6.8,58.4-4.3,93.4l0.3,3"/>
|
||||
<polygon style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:#D5D5D5;" points="909.4,327.6
|
||||
923.5,350.4 933.3,325.4 "/>
|
||||
<g style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);">
|
||||
<text transform="matrix(1 0 0 1 937.7745 299.4789)"><tspan x="0" y="0" class="st5 st14">>3</tspan><tspan x="50.9" y="0" class="st5 st14">.</tspan><tspan x="62.1" y="0" class="st5 st14">7V</tspan></text>
|
||||
</g>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:none;stroke:#D5D5D5;stroke-width:6;" d="
|
||||
M1170.6,161.5c228,25.6,371.6,110,430.8,253.1l1.1,2.8"/>
|
||||
<polygon style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:#D5D5D5;" points="1590.2,418.8
|
||||
1609.8,437.1 1612.6,410.4 "/>
|
||||
<g style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);">
|
||||
<text transform="matrix(1 0 0 1 1396.229 204.8126)"><tspan x="0" y="0" class="st5 st14">>3</tspan><tspan x="50.9" y="0" class="st5 st14">.</tspan><tspan x="62.1" y="0" class="st5 st14">7V</tspan></text>
|
||||
</g>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000171720285722730791730000010936644841389779363_);fill:none;stroke:#FF9300;stroke-width:6;" d="
|
||||
M1445.9,849.9h364.3c7.5,0,11.9,0,14.9,1.2c4.3,1.6,7.7,5,9.3,9.3c1.2,3,1.2,7.5,1.2,14.9V977c0,7.5,0,11.9-1.2,14.9
|
||||
c-1.6,4.3-5,7.7-9.3,9.3c-3,1.2-7.5,1.2-14.9,1.2h-364.3c-7.5,0-11.9,0-14.9-1.2c-4.3-1.6-7.7-5-9.3-9.3c-1.2-3-1.2-7.5-1.2-14.9
|
||||
V875.4c0-7.5,0-11.9,1.2-14.9c1.6-4.3,5-7.7,9.3-9.3C1434,849.9,1438.5,849.9,1445.9,849.9z"/>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000125590519588794066770000004908208256101094292_" x="1405.4" y="849.9" width="445.4" height="152.5"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000020367246295901477730000005237269270844408247_">
|
||||
<use xlink:href="#SVGID_00000125590519588794066770000004908208256101094292_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
<g style="clip-path:url(#SVGID_00000020367246295901477730000005237269270844408247_);">
|
||||
<text transform="matrix(1 0 0 1 1507.9561 950.0799)" class="st5 st6">Motors </text>
|
||||
</g>
|
||||
<g style="clip-path:url(#SVGID_00000020367246295901477730000005237269270844408247_);">
|
||||
<text transform="matrix(1 0 0 1 1706.5596 950.0799)" class="st5 st14">x4</text>
|
||||
</g>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000078757851010072822240000012642622956562684587_" width="1920" height="1080"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000132802581807603645050000011682039405646066589_">
|
||||
<use xlink:href="#SVGID_00000078757851010072822240000012642622956562684587_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000132802581807603645050000011682039405646066589_);fill:none;stroke:#0076BA;stroke-width:6;" d="
|
||||
M1445.9,440.1h364.3c7.5,0,11.9,0,14.9,1.2c4.3,1.6,7.7,5,9.3,9.3c1.2,3,1.2,7.5,1.2,14.9v101.7c0,7.5,0,11.9-1.2,14.9
|
||||
c-1.6,4.3-5,7.7-9.3,9.3c-3,1.2-7.5,1.2-14.9,1.2h-364.3c-7.5,0-11.9,0-14.9-1.2c-4.3-1.6-7.7-5-9.3-9.3c-1.2-3-1.2-7.5-1.2-14.9
|
||||
V465.5c0-7.5,0-11.9,1.2-14.9c1.6-4.3,5-7.7,9.3-9.3C1434,440.1,1438.5,440.1,1445.9,440.1z"/>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000121968229548182703620000008187702022402881724_" x="1405.4" y="440.1" width="445.4" height="152.5"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000130637550574198708210000000321319364498620830_">
|
||||
<use xlink:href="#SVGID_00000121968229548182703620000008187702022402881724_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
<g style="clip-path:url(#SVGID_00000130637550574198708210000000321319364498620830_);">
|
||||
<text transform="matrix(1 0 0 1 1486.833 540.213)" class="st5 st6">MOSFE</text>
|
||||
</g>
|
||||
<g style="clip-path:url(#SVGID_00000130637550574198708210000000321319364498620830_);">
|
||||
<text transform="matrix(1 0 0 1 1673.8936 540.213)" class="st26 st5 st6">T</text>
|
||||
</g>
|
||||
<g style="clip-path:url(#SVGID_00000130637550574198708210000000321319364498620830_);">
|
||||
<text transform="matrix(1 0 0 1 1708.9326 540.213)" class="st5 st6"> </text>
|
||||
</g>
|
||||
<g style="clip-path:url(#SVGID_00000130637550574198708210000000321319364498620830_);">
|
||||
<text transform="matrix(1 0 0 1 1727.6826 540.213)" class="st5 st14">x4</text>
|
||||
</g>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000038395453607794357290000016650519059911045024_" width="1920" height="1080"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000077303055156502403190000000114138446408493755_">
|
||||
<use xlink:href="#SVGID_00000038395453607794357290000016650519059911045024_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
|
||||
<path style="clip-path:url(#SVGID_00000077303055156502403190000000114138446408493755_);fill:none;stroke:#0076BA;stroke-width:3;" d="
|
||||
M167.8,451H416c4.5,0,7.1,0,8.9,0.7c2.6,0.9,4.6,3,5.5,5.5c0.7,1.8,0.7,4.5,0.7,8.9v46.6c0,4.5,0,7.1-0.7,8.9
|
||||
c-0.9,2.6-3,4.6-5.5,5.5c-1.8,0.7-4.5,0.7-8.9,0.7H167.8c-4.5,0-7.1,0-8.9-0.7c-2.6-0.9-4.6-3-5.5-5.5c-0.7-1.8-0.7-4.5-0.7-8.9
|
||||
v-46.6c0-4.5,0-7.1,0.7-8.9c0.9-2.6,3-4.6,5.5-5.5C160.7,451,163.4,451,167.8,451z"/>
|
||||
</g>
|
||||
<g>
|
||||
<defs>
|
||||
<rect id="SVGID_00000077301502947632695740000005629016913768095395_" x="145.2" y="451" width="293.5" height="77"/>
|
||||
</defs>
|
||||
<clipPath id="SVGID_00000004518590643829462700000008680026774255780777_">
|
||||
<use xlink:href="#SVGID_00000077301502947632695740000005629016913768095395_" style="overflow:visible;"/>
|
||||
</clipPath>
|
||||
<g style="clip-path:url(#SVGID_00000004518590643829462700000008680026774255780777_);">
|
||||
<text transform="matrix(1 0 0 1 197.8359 501.2101)" class="st5 st29">MPU9250 IMU</text>
|
||||
</g>
|
||||
</g>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 17 KiB |
BIN
docs/img/screw-m1.4.jpg
Normal file
BIN
docs/img/screw-m1.4.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 30 KiB |
BIN
docs/img/screw-m3.jpg
Normal file
BIN
docs/img/screw-m3.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 3.7 KiB |
BIN
docs/img/washer-m3.jpg
Normal file
BIN
docs/img/washer-m3.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 5.9 KiB |
BIN
docs/img/wire-28awg.jpg
Normal file
BIN
docs/img/wire-28awg.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 37 KiB |
30
docs/version0.md
Normal file
30
docs/version0.md
Normal file
@ -0,0 +1,30 @@
|
||||
# Flix version 0
|
||||
|
||||
Flix version 0 (obsolete):
|
||||
|
||||
<img src="img/flix.jpg" width=500 alt="Flix quadcopter">
|
||||
|
||||
## Components list
|
||||
|
||||
|Type|Part|Image|Quantity|
|
||||
|-|-|-|-|
|
||||
|Microcontroller board|ESP32 Mini|<img src="img/esp32.jpg" width=100>|1|
|
||||
|IMU and barometer² board|GY-91 (or other MPU-9250 board)|<img src="img/gy-91.jpg" width=100>|1|
|
||||
|Quadcopter frame|K100|<img src="img/frame.jpg" width=100>|1|
|
||||
|Motor|8520 3.7V brushed motor (**shaft 0.8mm!**)|<img src="img/motor.jpeg" width=100>|4|
|
||||
|Propeller|Hubsan 55 mm|<img src="img/prop.jpg" width=100>|4|
|
||||
|Motor ESC|2.7A 1S Dual Way Micro Brush ESC|<img src="img/esc.jpg" width=100>|4|
|
||||
|RC transmitter|KINGKONG TINY X8|<img src="img/tx.jpg" width=100>|1|
|
||||
|RC receiver|DF500 (SBUS)|<img src="img/rx.jpg" width=100>|1|
|
||||
|~~SBUS inverter~~*||<img src="img/inv.jpg" width=100>|~~1~~|
|
||||
|Battery|3.7 Li-Po 850 MaH 60C|||
|
||||
|Battery charger||<img src="img/charger.jpg" width=100>|1|
|
||||
|Wires, connectors, tape, ...|||
|
||||
|
||||
*\* — not needed as ESP32 supports [software pin inversion](https://github.com/bolderflight/sbus#inverted-serial).*
|
||||
|
||||
## Schematics
|
||||
|
||||
<img src="img/schematics.svg" width=800 alt="Flix schematics">
|
||||
|
||||
You can also check a user contributed [variant of complete circuit diagram](https://miro.com/app/board/uXjVN-dTjoo=/) of the drone.
|
||||
Loading…
x
Reference in New Issue
Block a user