Bola Flight Controller

Lead Developers: Jacob Ismael, Ethan Scanlon, Srihari Prazid

Wiki

This repository contains the setup and code for using an ESP32 with sensors (IMU and barometer) for the Gaucho Rocket Project.

The ESP32 uses a USB-C connection for uploading code.

---

Requirements

Arduino IDE Setup

• Make sure you're using the Arduino IDE
• Select the following under Tools:
  • Board: ESP32 Dev Module
  • Port: The correct COM port your ESP32 is connected to
  • Baud Rate: Check the correct baud rate for serial monitor and anywhere else relevant (115200 typically)

---

Libraries to Install

Install the following libraries via the Arduino Library Manager, or manually download them from GitHub and include them:

• Madgwick by Arduino
• Mahony by Arduino
• Adafruit BMP3XX by Adafruit
• Adafruit BusIO by Adafruit
• Adafruit Unified Sensor by Adafruit
• ESP32SPISlave by hideakitai
• ICM20948_WE by Wolfgang Ewald
• SparkFun BMP581 Arduino Library by SparkFun Electronics
• SparkFun 9DoF IMU Breakout - ICM 20948 by SparkFun Electronics

💡 Windows users: Install the CP210x Universal Windows Driver if your board doesn’t appear under Ports.

---

IMU-20948 and DMP Setup (for IMU)

1. Navigate to:
   Documents/Arduino/libraries/SparkFun_ICM-20948_ArduinoLibrary/src/util/

2. Open ICM_20948_C.h and uncomment the following line: #define ICM_20948_USE_DMP

3. Wire the ICM-20948 to the ESP32 using this schematic:

   

4. Open or paste the provided sketch from this repository into a new Arduino IDE project.

5. Upload the sketch, and hold the boot button on the ESP32 while uploading

6. Open Serial Moniter at 115200 baud and when prompted enter any key