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mermaid test
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@@ -140,6 +140,34 @@ I've also send this board to JLCPCB for FR04 fabrication. Because I had issues w
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## Programming
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For the drone I will be using the [dRehmFlight VTOL program](https://github.com/nickrehm/dRehmFlight). In the [programming week](../Assignments/week_4_programming/programming.md) I already modified it to support the BNO085 and made the bridge between my handheld controller and the flight controller using ESPNow. For further support I still had some bugs to squash and some other features to implement for compatibility with my system.
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```mermaid
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classDiagram
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namespace Drone {
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class ESPC6 {
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+Control Motors
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+keep drone in the air
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+Receive communication from controller
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Flightcontroller()
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}
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class MatrixController {
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}
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}
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namespace Controller {
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class ESPC3 {
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+Read joystick data
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+Clean joystick data
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+Send joystick data to the drone
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Handheld Controller()
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}
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}
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ESPC3 --> ESPC6 : Send data to flight controller using ESPNOW
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```
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I've already gotten the motors to spin in week 10
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