Flight Controller

A professional-grade flight controller for drones based on STM32F103 or ESP32, featuring sensor integration, low-latency communication, and real-time control systems. Built with PlatformIO for robust and efficient UAV operations.

Features

Core Systems

• MPU6050 Integration: Gyroscope and accelerometer for precise motion tracking
• ExpressLRS Communication: Low-latency CRSF protocol for reliable radio control
• Modular Architecture: Clean, maintainable codebase with separated concerns
• Multi-Platform Support: Compatible with STM32 and ESP32 architectures

Flight Control

• Real-time sensor data processing
• PWM signal generation for flight surfaces
• Configurable control mixing
• Timing-optimized loop execution

Hardware Requirements

• Main Controller: STM32F103C8 (Blue Pill) or ESP32
• Sensors: MPU6050 (I²C)
• Receiver: ExpressLRS-compatible module
• Power: 3.3V regulated supply

Pin Configuration

Function	STM32	ESP32
Status LED	PC13	GPIO2
I²C SDA	PB7	GPIO21
I²C SCL	PB6	GPIO22
ELRS RX	PB11	Configurable
ELRS TX	PB10	Configurable

Development Status

• Foundation: STM32 compilation in PlatformIO
• Sensors: MPU6050 integration and calibration
• Communication: ExpressLRS CRSF protocol
• Control Systems: PID loop development
• Motor Control: ESC PWM/Dshot implementation

Building

# Build for STM32
pio run -e bluepill_f103c8

# Build for ESP32
pio run -e esp32

# Upload to device
pio run -e bluepill_f103c8 -t upload

Configuration

Modify platformio.ini for target-specific settings:

• Serial baud rates
• Pin assignments
• Timing intervals
• Communication protocols

License

Professional use - Contact for commercial licensing.