This project contains all of the CAD and Code required to build 'OpenDrono'

https://cad.onshape.com/documents/5a39f1ee6e81977bc9495c99/w/998eaf910537d694b83bb4dd/e/3f6d457c204f112068c093ae

This project also contains gerber files for making the OpenDrono Printed Circuit Board. This helps ensure wiring is cleaner and disconnections occur less often.

• Initial CAD prototype completed
• Code to test motor controllers completed
• Implement DShot Support
• Read BNO055 IMU
• Implement motor mixing
• Implement PID Control
• Implement distance sensor for elevation control
• Brainstorm localization methods
• Brainstorm perception methods (CV, distance sensors, etc)
• Implement Model Predictive Controller

This project is in its infancy and nearly everything is subject to massive overhauls

While testing, make sure your OpenDrono's propellers are off to ensure your safety. Then adjust the + and - signs in the motor mixing section of the code (such as the following). This makes sure that the feedback from each fo the individual controllers moves the drone in the correct direction. Failure to do this will cause great instability and will likely damage your OpenDrono or yourself (True Story).

    frontRightSpeed = heightPower - rollPower - pitchPower - yawPower;
    frontLeftSpeed = heightPower + rollPower - pitchPower + yawPower;
    backRightSpeed = heightPower - rollPower + pitchPower + yawPower;
    backLeftSpeed = heightPower + rollPower + pitchPower - yawPower;