Flight Controller based on K20DX128 (Teensy 3.0)

PIN setup (Teensy 3.0 pin numbering)

• I2C SCL 19

• I2C SDA 18

• PPM in (receiver) 3

• Rotor 1 22

• Rotor 2 23

• Rotor 3 9

• Rotor 4 10

• Rotor 5 6

• Rotor 6 20

• Rotor 7 21

• Rotor 8 5

• Orientation lights / Armed-Disarmed indicator 14

• Battery Monitor (current sensor) 17

Filters, kinematics, data handling

• Initial raw data from sensors (read every 1ms = 1000Hz) is being averaged by a simple averaging filter
• Averaged data from sensors are being processed every 10ms (100Hz)
• CMP kinematitcs (my own) selected by default
• ARG kinematics (from aeroquad) is also supported (can be enabled by simple include change)
• DCM kinematics (from FreeIMU)
• Flight controller supports
  • Rate (ACRO) | gyro only
  • Attitude | gyro with accel corrections
  • Altitute hold | barometer or sonar
• Pilot commands are being read by PPM sampling code via single PIN (with HW timer), both PPM and PWM in is supported
• Stabilization and pilot commands are mixed together by 2 separate PID controllers
  • First (only used in attitude mode) mixes pilot commands with kinematics output
  • Second (used in both attitude and rate mode) mixes output from first PID or raw stick input with gyroRate output
• For ESC signal output i am using an build in 8 channel FLEX timer (yes you can controll octocopter with this)
  • ESC PWM signal supports both 250Hz and 400Hz update rate (running at 400Hz by default)

Accelerometer offset trimming via TX

• While in dis-armed state
• To enter the trimming mode = Throttle stick UP & Rudder LEFT
• To adjust the values = PITCH UP & DOWN || ROLL LEFT & RIGHT
• To save the values in EEPROM = Throttle UP & Rudder RIGHT
  • (you dont have to save the values right away, you can test them, then return back to trimming mode and save them)
• To leave trimming mode = Throttle stick DOWN