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Many updates to documentation

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Updates to main readme.
Add much more info to usage article.
Move simulator building to simulation's readme.
Improve assembly article.
Many fixes.
Updates in diagrams.
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Oleg Kalachev
2025-11-06 13:46:25 +03:00
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README.md
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# Flix
**Flix** (*flight + X*) — making an open source ESP32-based quadcopter from scratch.
**Flix** (*flight + X*) — open source ESP32-based quadcopter made from scratch.
<table>
<tr>
@@ -52,25 +52,27 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
<img src="docs/img/simulator1.png" width=500 alt="Flix simulator">
## Articles
## Documentation
* [Assembly instructions](docs/assembly.md).
* [Usage: build, setup and flight](docs/usage.md).
* [Troubleshooting](docs/troubleshooting.md).
* [Firmware architecture overview](docs/firmware.md).
* [Python library tutorial](tools/pyflix/README.md).
* [Simulation](gazebo/README.md).
* [Firmware architectural overview](docs/firmware.md).
* [Python library](tools/pyflix/README.md).
* [Log analysis](docs/log.md).
* [User builds gallery](docs/user.md).
* [Version 0 (obsolete)](docs/version0.md).
## Components
|Type|Part|Image|Quantity|
|-|-|:-:|:-:|
|Microcontroller board|ESP32 Mini|<img src="docs/img/esp32.jpg" width=100>|1|
|IMU (and barometer²) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM20948V2 (ICM‑20948)³<br>GY-521 (MPU-6050)³⁻¹|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
|<span style="background:yellow">Buck-boost converter</span> (recommended)|To be determined, output 5V or 3.3V, see [user-contributed schematics](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612179508274&cot=14)|<img src="docs/img/buck-boost.jpg" width=100>|1|
|Motor|8520 3.7V brushed motor (shaft 0.8mm).<br>Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).|<img src="docs/img/motor.jpeg" width=100>|4|
|Propeller|Hubsan 55 mm|<img src="docs/img/prop.jpg" width=100>|4|
|IMU (and barometer¹) board|GY‑91, MPU-9265 (or other MPU‑9250/MPU‑6500 board)<br>ICM20948V2 (ICM‑20948)³<br>GY-521 (MPU-6050)³⁻¹|<img src="docs/img/gy-91.jpg" width=90 align=center><br><img src="docs/img/icm-20948.jpg" width=100><br><img src="docs/img/gy-521.jpg" width=100>|1|
|Boost converter (optional, for more stable power supply)|5V output|<img src="docs/img/buck-boost.jpg" width=100>|1|
|Motor|8520 3.7V brushed motor.<br>Motor with exact 3.7V voltage is needed, not ranged working voltage (3.7V — 6V).<br>Make sure the motor shaft diameter and propeller hole diameter match!|<img src="docs/img/motor.jpeg" width=100>|4|
|Propeller|55 mm (alternatively 65 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|
@@ -78,19 +80,17 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
|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 main part|3D printed⁴:<br>[`flix-frame-1.1.stl`](docs/assets/flix-frame-1.1.stl) [`flix-frame-1.1.step`](docs/assets/flix-frame-1.1.step)<br>Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.|<img src="docs/img/frame1.jpg" width=100>|1|
|Frame main part|3D printed²:<br>[`flix-frame-1.1.stl`](docs/assets/flix-frame-1.1.stl) [`flix-frame-1.1.step`](docs/assets/flix-frame-1.1.step)<br>Recommended settings: layer 0.2 mm, line 0.4 mm, infill 100%.|<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>|2|
|Controller (recommended)|CC2500 transmitter, like BetaFPV LiteRadio CC2500 (RC receiver/Wi-Fi).<br>Two-sticks gamepad (Wi-Fi only) — see [recommended gamepads](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html#supported-joysticks).<br>Other⁵|<img src="docs/img/betafpv.jpg" width=100><img src="docs/img/logitech.jpg" width=80>|1|
|*RC receiver (optional)*|*DF500 or other⁵*|<img src="docs/img/rx.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||||
*² — barometer is not used for now.*<br>
*³ — change `MPU9250` to `ICM20948` or `MPU6050` in `imu.ino` file for using the appropriate boards.*<br>
*³⁻¹ — MPU-6050 supports I²C interface only (not recommended). To use it change IMU declaration to `MPU6050 IMU(Wire)`.*<br>
*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
*⁵ — you also may use any transmitter-receiver pair with SBUS interface.*
*¹ — barometer is not used for now.*<br>
*² — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
*³ — you also may use any transmitter-receiver pair with SBUS interface.*
Tools required for assembly:
@@ -100,7 +100,7 @@ Tools required for assembly:
* 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)).
Feel free to modify the design and or code, and create your own improved versions. 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
@@ -108,7 +108,7 @@ Feel free to modify the design and or code, and create your own improved version
<img src="docs/img/schematics1.svg" width=700 alt="Flix version 1 schematics">
*(Dashed is optional).*
*(Dashed elements are optional).*
Motor connection scheme:
@@ -135,14 +135,15 @@ See [assembly guide](docs/assembly.md) for instructions on assembling the drone.
* 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 (*TDI*)|
|Motor 1|Rear right|Clockwise|Blue & Red|GPIO13 (*TCK*)|
|Motor 2|Front right|Counter-clockwise|Black & White|GPIO14 (*TMS*)|
|Motor 3|Front left|Clockwise|Blue & Red|GPIO15 (*TD0*)|
|Motor|Position|Direction|Prop type|Motor wires|GPIO|
|-|-|-|-|-|-|
|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 (*TDI*)|
|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 (*TCK*)|
|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 (*TMS*)|
|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 (*TD0*)|
Counter-clockwise motors have black and white wires and clockwise motors have blue and red wires.
Clockwise motors have blue & red wires and correspond to propeller type A (marked on the propeller).
Counter-clockwise motors have black & white wires correspond to propeller type B.
* Optionally connect the RC receiver to the ESP32's UART2:
@@ -154,28 +155,14 @@ See [assembly guide](docs/assembly.md) for instructions on assembling the drone.
*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
## Resources
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.
## 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/.
See the information on the obsolete version 0 in the [corresponding article](docs/version0.md).
* Telegram channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
* 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/.
## Disclaimer
This is a fun DIY project, and I hope you find it interesting and useful. However, it's not easy to assemble and set up, and it's provided "as is" without any warranties. There’s no guarantee that it will work perfectly — or even work at all.
This is a DIY project, and I hope you find it interesting and useful. However, it's not easy to assemble and set up, and it's provided "as is" without any warranties. There's no guarantee that it will work perfectly, or even work at all.
⚠️ The author is not responsible for any damage, injury, or loss resulting from the use of this project. Use at your own risk!