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The Arduino docs probably has mistake offering non-existent ~/local/bin path instead of ~/.local/bin. Some systems lack ~/.local/bin as well, so simply use /usr/local/bin. Also install arduino-cli in CI the same way as in the docs to check them.
flix
flix (flight + X) — making an open source ESP32-based quadcopter from scratch.
Features
- Simple and clean Arduino based source code.
- Acro and Stabilized flight using remote control.
- Precise simulation using Gazebo.
- In-RAM logging.
- Command line interface through USB port.
- Wi-Fi support.
- 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*.
- Building and running instructions.
* — planned.
It actually flies
See YouTube demo video: https://youtu.be/8GzzIQ3C6DQ.
Simulation
Simulation in Gazebo using a plugin that runs original Arduino code is implemented:
Schematics
You can also check a user contributed variant of complete circuit diagram of the drone.
* — SBUS inverter is not needed as ESP32 supports software pin inversion.
Components (version 0)
| Component | Type | Image | Quantity |
|---|---|---|---|
| ESP32 Mini | Microcontroller board |  |
1 |
| GY-91 | IMU+LDO+barometer board |  |
1 |
| K100 | Quadcopter frame |  |
1 |
| 8520 3.7V brushed motor (shaft 0.8mm!) | Motor |  |
4 |
| Hubsan 55 mm | Propeller |  |
4 |
| 2.7A 1S Dual Way Micro Brush ESC | Motor ESC |  |
4 |
| KINGKONG TINY X8 | RC transmitter |  |
1 |
| DF500 (SBUS) | RC receiver |  |
1 |
 |
|||
| 3.7 Li-Po 850 MaH 60C | Battery | ||
| Battery charger |  |
1 | |
| Wires, connectors, tape, ... | |||
| 3D-printed frame parts |
* — not needed as ESP32 supports software pin inversion.
Materials
Subscribe to Telegram-channel on developing the drone and the flight controller (in Russian): https://t.me/opensourcequadcopter.
Detailed article on Habr.com about the development of the drone (in Russian): https://habr.com/ru/articles/814127/.