# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: STM32 Blackpill Quadcopter
summary: A low-cost quadcopter built around an STM32F411CEU Blackpill flight controller running INAV 6.0 firmware, with a frame mostly cut from carbon-fiber sheet.
category: drone
difficulty: intermediate
license:
  hardware: GPL-3.0-only
  software: GPL-3.0-only
source:
  repository: https://github.com/I-M-Robotics-Lab/STM32-Quadcopter
  ref: 53a1ec15ecc6eadba40c16c8c6e2752a0bb6d37e
tools:
  - 3D printer
  - CNC or laser cutter for carbon-fiber she
  - soldering iron
  - CMake
  - Ninja
  - gcc-arm-none-eabi toolchain
  - Arduino (optional
  - for MPU identificatio
files:
  parts_3d: 3.Models/
  cad: 3.Models/
  electronics: 1.Electronics/
  bom: README.md
  images:
    - 4.Docs/Pictures/IMG_0766.jpg
build_steps:
  - title: Cut the carbon-fiber frame parts from the CF cut patterns in 3.Models/
  - title: 3D-print the ABS components with a 0.4 mm or 0.6 mm high-strength profile
  - title: Assemble the frame with the M3 bolts, nuts and nylon spacers listed in the mecha
  - title: Wire the electronics following the pinout, sample diagram and GPS UART1 wiring n
  - title: Add a 330 µF @ 50 V capacitor between VBAT and GND near the input
  - title: Clone INAV 6.0 and copy the GYW_BLACKPILL_F411 target into src/main/target/
  - title: Patch system_stm32f4xx.c for the 25 MHz HSE clock
  - title: Build the firmware with CMake and Ninja
  - title: Flash the firmware via DFU using INAV Configurator 6.0.0
  - title: Configure the flight controller following standard INAV procedures