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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
	SBUS inverter*		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/.