Home - Jeffem/MP5_QuadCopter GitHub Wiki

Welcome to the MP5_QuadCopter wiki.

MP5_QuadCopter is a branch derived from MatrixMilot/MatrixPilot dedicated to control a multicopter aircraft with an UDB5 autopilot.

Before committed this important modification, some steps will be done to arrive progressively to the objective.

Some general purpose changes are proposed:

  1. Waiting for PLL to lock, as recommanded by Microchip (cf DS70188E-page 17-16)
  2. Define constant timings, like PID_HZ, to replace "hard" numbers, like 40, in the code
  3. Check that divisors are different of zero before calling a division
  4. Reserve

Now, go to quadcopter improvements:

  1. MPU at 1 kHz
  2. MPL3115 barometer
  3. Lidar Lite integration
  4. Specific motors control
  5. Inner loops to improve attitude control
  6. Throttle control
  7. Height/altitude fusion
  8. Ground speed control
  9. horizontal position control