This git repository is a personal project of mine to develop an open-source autonomous quad copter using cheap off-the-shelf components in conjunction with control theory and state estimation. As much as possible, any auxiliary tools and documentation I produce, will also be a part of the repository.

The firmware is written in the Rust programming language. This is in contrast to most flight controllers (and embedded devices in general) which use C or C++. The reason for choosing Rust is quite simple: it is a modern language. It can guarantee many things about the validity of memory at compile time, allows for writing high-level code, that runs at low-level speeds, and feels good to write; once you become friendly with the borrow checker.

• 3dparts - 3D models used in the project as STEP and .obj files.
• docs - Documentation and learning material used in the project.
• hardware - Schematics, and PCB layouts as well as finished gerber files.
• images - Photos used in readme and some documentation.
• software - Software related to the project, including simulations, firmware, etc.
• tests - Results from test conducted during this project

During this project, some additional tools were developed, that reside in their own repositories.

• Async no-std ICM-20948 driver
• Dshot driver for RP2040 PIO
• Magnetometer calibration algorithm
• Linear multi-sensor Kalman filter
• (Forked) no-std SBUS-parser

This work is licensed under GPLv3.