Arduino quadcopter

A simple quadcopter filght controller designed to work in angle control mode (diagram).
All parameters are grouped in config.h.
Switch OPERATING_MODE to perform ESC calibration and IMU calibration.
Switch DEBUG to visualize print messages in the serial monitor.
The control loop frequency is about 80Hz.

Software requirements

Arduino libraries:

• MPU9250==0.4.8
• AutoPID==1.0.3

Hardware requirements

• Board: Arduino Mega 2560
• Imu: MPU 9250
• Receiver: Flysky FS-IA6
• Motor/ESC: A2212 1000KV Brushless Motor 30A ESC
• Propeller: 1045
• Rangefinder: HC-SR04
• Battery: LiPo 3S 35C XT60
• DC/DC stepdown: LM7805
• 30A fuse

Frame

• 4x motor.stl
• 4x holder.stl
• 4x hollow alluminium rod 10x10x130 mm (to link motor and holder)
• 1x plastic disk diameter ~220 mm (the base where to anchor holders with 3M bolts)
• 1x cover.stl