Quadcopter Advanced

Advanced quadcopter demo program. Adds flight modes selectable by radio controller, telemetry, barometer, gps, and logging.

Required Hardware

• IMU sensor (SPI or I2C)
• RC receiver with 6 channels (CRSF/ELRS preferred)
• 4 brushless motors with ESCs -OR- 4 brushed motors with MOSFETs

Connecting Hardware

See Getting Started

Flight Modes

Default flight mode is RATE. The mode can be changed to ANGLE with the flight mode channel of the radio controller. Important: calibrate the accelometer before using ANGLE.

RATE Mode

The roll/pitch stick inputs control the rate of change. Keeping the sticks centered will keep turning at the current rate.

ANGLE mode

The roll/pitch stick inputs control the roll/pitch angle. Keeping the sticks centered will keep the quadcopter horizontal.

Arming / Disarming

With a dedicated switch channel:

• Arming: Set throttle low, then flip arm switch from DISARMED to ARMED
• Disarming: Flip arm switch from ARMED to DISARMED, at any throttle position. "Kill switch"

With stick commands (when parameter cfg.rcl_arm_ch == 0):

• Arming: throttle pulled, yaw right, pitch pulled, roll left, and keep sticks for 2 seconds
• Disarming: throttle pulled, yaw left, pitch pulled, roll right, and keep sticks for 2 seconds

LED Status

• OFF - not powered
• ON - startup, running gyro calibration (don't move)
• blinking long OFF short ON - DISARMED
• blinking long ON short OFF - ARMED
• blink interval longer than 1 second - imu_loop() is taking too much time
• fast blinking - something is wrong, connect USB serial for info

Building and Flying

Bill of Materials

Part	Price
Raspberry Pi Pico	$4.0
MPU6500 Gyro/Acc Module	$1.3
BME280 Barometer Module	$0.8
INA226 Current Sensor Module	$1.0
Micro SD Card Module	$0.6
Mini DC-DC 12-20V to 5V 3A Buck Converter	$0.4
uBlox M8 GPS with QMC5883L Compass Compass	$10.0
ELRS receiver	$7.2
DJI E300 Propulsion System (9.4x4.3 props, 2212 920KV motors, 15A ESCs)
Frame of a Ideafly IFLY-4 Quadcopter