Open source quadcopter GLDrone

Introduction

GLDrone is an open source project with an independent self-made frame and electronically controlled flight control. It is a small model with a wheelbase of about 140mm. It was developed for the indoor flight and indoor formation experiments of the GLMocap project. The GLDrone project uses the MIT protocol, and the code, rack, and ESC flight control PCB are all open source files.

Designing Documents

• Rack design files (using Fusion360)
• ESC schematic PCB (Lichuang EDA)
• Flight control schematic PCB (Lichuang EDA)
• Modified PX4 source code
• Rack design file Fusion360 sharing address (online viewing): https://a360.co/30LNv4s

ESC instructions

• Main control: EFM8BB21F16G, driver: FD6288Q, MOS: TPN2R703NL
• The ESC uses the BLHeli_S solution, and the firmware uses C_H_30. For details, see BLHeli
• ESC design reference https://github.com/ckflight/ESC_BLDC_HARDWARE

Flight control instructions

• Flight control uses PX4 solution: FMUv4, refer to pixracer
• Main control: STM32F427VIT6
• IMU: ICM-20602 ICM-20689
• Magnetometer: IST8310
• Barometer: MS5611
• Optical flow: PMW3901MB (not onboard)
• Laser: VL53L1X (not onboard)

Problems

• warn! Since the four-in-one ESC adopts module replication for the ESC PCB, the silk screen printing is only correct for MOTO4. For other MOTOs, please refer to MOTO4 for placement of components! The unconnected network is due to the fact that the network number was not changed during the copying process and does not need to be connected.
• The 5V power supply supplied by the ESC to the flight control passes through a diode in the flight control PCB, causing the voltage to drop to about 4.5V. The voltage output by the ESC should be increased.
• Since the ESC V1.1 version has modified the problems found in the V1.0 version and has not been tested, please use it with caution!

Pictures and demonstration videos

• [Hard-core open source] Homemade motion capture for my home-made aircraft! The latest progress of self-developed open source projects GLMocap and GLDrone
• Self-made rack GLDrone indoor positioning effect
• Hardcore open source! GLDrone open source quadcopter drone project

Contact information

• Light Wheel Electronics Personal Home Page
• Emil: 272073020@qq.com
• Light Wheel Electronics QQ communication group 558343678