dernatsch / zephly

A simple quadrotor drone flight controller based on zephyr.

Zephly

Warning

This software is in very early development state.

Attempt to implement a flight controller based on zephyr rtos.

Getting started

1. Follow the zephyr Getting Started Instructions and ensure system and python dependencies are installed. Furthermore consider installing the zephyr toolchain to simplify later usage.

2. Create an empty folder for the fc development and use west to download the sources

   mkdir fcdev
   west init -m https://github.com/helo9/zephly --mr main fcdev
   cd fcdev
   west update
   west zephyr-export

   west has downloaded the zephly repo into fcdev/zephly

3. Build for Copter Control 3D to verify installation:

   cd zephly/
   west build --board=openpilot_cc3d -s app

Overview

Figure 1. Controller Diagram

The AttitudeRateController takes radio commands from the pilot as setpoint and uses the gyroscope measurements to calculate moment and force demand. This is translated into four individual motor outputs by our mixer. The Output forwards them to the motor speed controllers.