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quad

★ 211 Open GitHub ↗

Firmware, hardware and documentation for my autonomous quad copter project

// repository documentation

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> [!TIP]
> The Rust-based flight control firmware is maintained in its own repository - [**Holsatus Flight**](https://github.com/holsatus/holsatus-flight)

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# Project quad

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.

## Getting Rusty

The [firmware](/software/rusty-quad) 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.

![](https://raw.githubusercontent.com/peterkrull/quad/main/images/readme_frontimage_3.jpg)

### [*YouTube* : Demo of wireless data plotting and responsive controls](https://www.youtube.com/watch?v=jQ53PiUz8Us)

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## Directory contents

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

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## Related repositories

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

### Rust crates

- [Async no-std ICM-20948 driver](https://github.com/peterkrull/icm20948-async)
- [Dshot driver for RP2040 PIO](https://github.com/peterkrull/dshot-pio)
- [Magnetometer calibration algorithm](https://github.com/peterkrull/mag-calibrator-rs)
- [Linear multi-sensor Kalman filter](https://github.com/peterkrull/kalman_filter_rust/)
- [(Forked) no-std SBUS-parser](https://github.com/peterkrull/sbus)

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## License

This work is licensed under GPLv3.

quad

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