Smikkelbakje/Drone-FabAcademy-2025
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Sam Hos
2025-02-05 09:27:28 +01:00
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docs/final_project/drone_code.md
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@@ -117,4 +117,15 @@ First used the wrong library I used the Adafruit bno0xx library instead of the S
After researching for a while and looking through other fab academy projects I found out that other people also made drones with micro controllers and used a pre-made driver that they customized (https://fab.cba.mit.edu/classes/863.23/Architecture/people/Zhixing/finalproject.html). After doing some research on how to keep the drone upright I also decided to use an existing driver because the math required for that is way above my level.
### The new driver
Im gonna be using the [dRhemFlightVTOL](https://github.com/nickrehm/dRehmFlight/tree/master) driver. The only problem is that it doesn't support my Inertial measuring unit (BNO085). So I will have to customize the driver to make it work with it.
Im gonna be using the [dRhemFlightVTOL](https://github.com/nickrehm/dRehmFlight/tree/master) driver. The only problem is that it doesn't support my Inertial measuring unit (BNO085). So I will have to customize the driver to make it work with it.
//TODO: reverse engineer the driver and see what all pwm channels do from the controller
//TODO: See if i can use playstation controller as RC controller
```cpp
thro_des = (channel_1_pwm - 1000.0) / 1000.0; // Between 0 and 1
roll_des = (channel_2_pwm - 1500.0) / 500.0; // Between -1 and 1
pitch_des = (channel_3_pwm - 1500.0) / 500.0; // Between -1 and 1
yaw_des = (channel_4_pwm - 1500.0) / 500.0; // Between -1 and 1
```