AtlasQuad

A simple quadcopter project built on the DJI F450 quadcopter model.

Building

To build the project without debugging output, simply issue the command:

make

For debugging output, build with the command:

make DEBUG=1

Requirements

• GCC ARM Embedded toolchain
• [Optional] Simulink w/ SimElectronics, SimMechanics, and Simscape

Directory Layout

• Documents - Contains various datasheets and PDFs of the Simulink model of the AtlasQuad system.
• Simulink - Contains the Simulink model of the AtlasQuad system.
• src - Contains all of the source code for the AtlasQuad flight controller.
  • main.cpp - The main flight controller application.
  • config.h - Contains system configurations.
  • xbeeuart.cpp/h - Contains code used to communicate to the XBee module onboard the AtlasQuad system.
  • ADXL345/ - Contains the library files developed to communicate to the ADXL345 accelerometer.
  • ITG3200/ - Contains the library files developed to communicate to the ITG3200 gyro.
  • mbed/ - Contains the sources for the Mbed platform.
  • motors/ - Contains source for motor control through the ESCs.
  • PID/ - Contains source for the PID controllers.
• Utilities - Contains two utilities that we developed to help tune the PIDs and to command the quadcopter from a remote base station.
• XCTU - Contains an XML file with XBee packet configurations to communicate to the AtlasQuad system through the XCTU software.

TODO