Hummingbird FCU Quadcopter Flight Software

Flight software for the Hummingbird Flight Control Unit quadcopter flight controller. Designed to run on the Teensy 4.1. Developed with VSCode+PlatformIO.

Developed By: Michael Wrona, B.S. Aerospace Engineering

• Blog: mwrona.com
• YouTube: @MicWro Engr

This project is very much a work in progress. Stop by every so often to see my progress!

Short-Term To-Do List

• Determine timing scheme for reading GPS data
• Check out task schedulers
• Implement scheduled tasks to read IMU, baro, and GPS sensors
• Finalize EKF equations
• Develop EKF with help from SymPy's C-coder

Sensors + Devices

• Microcontroller/Computer: PJRC Teensy 4.1
• IMU: Adafruit Precision NXP 9-DOF Breakout Board - FXOS8700 + FXAS21002
• GPS + Compass: mRobotics GPS U-BLOX NEO-M8N DUAL COMPASS LIS3MDL+ IST8310
• Barometer + Temperature Sensor: Adafruit BMP388 Precision Barometric Pressure and Altimeter
• Telemetry Radio: XBee 3 RP-SMA Module
• Radio Transmitter: Spektrum DX6i 6-Channel
• Radio Receiver: Spektrum DSMX Remote Receiver

Libraries Used

• TinyGPS++: Parsing NMEA strings and extracting GPS data
• Adafruit BMP3XX: Reading data from BMP388 pressure + temperature sensor

Circuit Schematic