Avem

A lightweight drone flight controller using STM32, PID control, and BLDC motors.

Drone
Open source
3D printable

Suggested by Robotheca, created by @but0n (opens in a new tab), from github.com/but0n/Avem (opens in a new tab). Pinned to commit 9d3f6a4 (opens in a new tab).

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Hardware license: MIT (opens in a new tab)
Software license: MIT (opens in a new tab)
Commercial use: Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (3 scripts, 1 program or installer, 56 firmware images)

Avem, photo from its repository — Photo:@but0n (opens in a new tab)MITsource file (opens in a new tab)

Degrees of freedom: 6

What it can do

Written by Robotheca from the project's documents.

Autonomous flight with cascade PID control
Attitude stabilization using quaternion and Euler angles
Brushless DC motor control via PWM
Wireless control via Wi-Fi (ESP8266)
Real-time sensor data processing (MPU6050)
Multi-axis flight control (pitch, roll, yaw)
Flight mode switching (angle stabilization, rate control)
Flight data logging and monitoring

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Assemble flight controller hardware
2Install and configure STM32 firmware
3Calibrate MPU6050 sensor
4Tune PID controller
5Test motor control and BLDC drivers
6Integrate Wi-Fi module (ESP8266)
7Install and configure host software (Flask + pyserial)

The guide appears here as you scroll.

Guide by @but0n (README.md), under MIT.

More guides

docs/README.mdin English

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

STM32F103 microcontroller
MPU6050 6-axis IMU (accelerometer and gyroscope)
Brushless DC motors with ESC control
ESP8266 Wi-Fi module
GPS module (TBD)
Power supply and voltage regulation

Connections

MPU6050 connected via I2C (SCL on PB15, SDA on PB14)
BLDC motors controlled via PWM on channels PA6, PA7, PB0, PB1
ESP8266 connected via USART3 (TX on PB10, RX on PB11)
GPS module connection marked as TBD

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 30/100Incomplete documentation
Parts: –
Tools: soldering iron, 3D printer, oscilloscope

Buildability30/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 9d3f6a4. It isn't a rating of the robot.

3D and CAD files0/20
No printable parts or CAD files.
Most points to gain: Add the parts to print (STL or 3MF files). Add the CAD source (STEP, or the CAD program's own files) so people can change the design.
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation10/15
README of 961 characters with 5 pictures; 7 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: MIT; software: MIT.

Software

Framework: Not stated
Languages: C
License: MIT

The code

How to run it

Written by Robotheca from the project's documents.

Install STM32 toolchain and dependencies
Flash firmware to STM32F103 using provided build
Configure Wi-Fi settings for ESP8266 module
Run host software (Flask + pyserial) for monitoring and control
Adjust PID parameters via host interface for tuning

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit 9d3f6a4.

Community

Questions and improvements go to the creator's repository.

Photo