I'm trying to build a Drone with friends from scratch. For that i need to build a flightcontroller using a stm32. I'm using a prebuild esc but eventually i want to design one myself. Software for autonomous flight and other is planned for the future as well.
I got my st-link and changed the .ini file to flash and debug with it. Also added interrupt for the icm so i can run the main loop with 1kHz (might change in the future). And i added a usb connection so i get the sensordata to my pc and a phyton script visualises the drones orientation.
Added files for the icm20602 sensor used for acceleration and angle speed messurement.
Also added files for bmp280 with function to get height above ocean level and absolute height from the starting position. I used the equations from the data sheet for compensation an a simple low-pass.
Since i don’t have a st-link yet i used a oled display to show the values for height, accelaeration and angle speed. I added the files for that as well.
The ICM uses SPI. The display and BMP280 share the same I2C pins.
I had some problems with getting started because the pins weren’t soldered on yet and some pins didn’t have a stable connection. Everything instantly worked after soldering them on.
Got the STM32CubeMX project set up, configured the pinout & clock tree, and initialized our Git repo. Also started writing the first bits of firmware for reading raw accel & gyro data from the IMU over SPI.
