STM32 Flight Controller 🚀

This repository hosts an STM32F103-based flight controller for drones, featuring MPU6050, ExpressLRS, PID control, and motor mixing. Built with PlatformIO for lightweight, efficient UAV control.

Key Features ✨

• MPU6050: Gyroscope & accelerometer for precise motion tracking.
• ExpressLRS: Low-latency radio communication with Crossfire (CRSF).
• PID Loop: Custom control loop for stable flight.
• Motor Mixing: Generates motor signals from PID outputs.
• Bit Banging: Faster pin control for improved performance.
• Profiling: Optimizes software metrics for efficiency.

Development Notes ⚙️

• compile STM32F103 project in Arduino IDE & PlatformIO
• basic functions running: MPU6050, ELRS
• PID loop, bit banging
• motor mixer, motor PWM control
• loop optimization
• LED indicator
• more control functions

Requirements 🗒️

• Uses MPU6050 as gyro & accelerometer
• Does bit banging as means of setting pins for faster cycle time
• Uses ExpressLRS as radio reciever and crossfire as communication protocol
• Implements PID loop to control attitude
• Generates motor signals through motor mixing from processed values from PID loop
• Implements profiler to detect software metrics