Firmware Design

[nixpulvis]

Binary

• acu - Dubbed the axial control unit. Will make use of the other firmware libraries both defined in this project and elsewhere.

  Libraries

• esc - The electronic speed controller library, for controlling the propellers.
• imu - Math and interfacing with the underlying initial measurement unit.
• status - Status indication code, for talking to LEDs and buzzers and the like.

  Directory Structure

src/
    acu.h
    acu.c
lib/
    esc.h
    esc.c
    imu.h
    imu.c
    status.h
    status.c

Build

Each of the libraries will be compiled into an archive file, for example imu.a and then linked into the acu binary.

[nixpulvis]

first order of business is to rip out the kalman filter and accel alltogether and get this thing running at full 16MHz utilization on just the gyro.

Apperently people can fly quads like this, who'd of thought.

[dcalacci]

crazy :)