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Wuhu TakeOff Quadcopter

A DIY quadcopter drone built from scratch using an STM32F411CEU6 microcontroller.

  • Drone
  • No license: all rights reserved by the creator
  • 3D printable

Suggested by Robotheca, created by @Jason-xy (opens in a new tab), from github.com/Jason-xy/WuhuTakeOff (opens in a new tab). Pinned to commit 5faa55a (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

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

Which files (44 scripts, 6 programs or installers, 40 firmware images)

Photo

This repository has no photo of the robot yet.

What it can do

Written by Robotheca from the project's documents.

  • Autonomous flight with PID control
  • Attitude estimation using IMU and DMP
  • Sensor calibration for gyroscope, accelerometer and magnetometer
  • OLED display of flight data
  • Serial communication with ground station
  • Wi-Fi telemetry via ESP-01S
  • Multi-sensor data fusion for AHRS
  • Complementary filter and low-pass filtering for noise reduction

Bill of materials

26 parts
Export parts list (CSV)

26 of 26 parts shown

Parts list
#ComponentQuantityEst. priceSupplier
112p4––
20.1u8––
32.2u1––
41u2––
5GY-861––
6HDR-M-2.54_2x31–LCSC
710uh1––
8SC662K-3.3V1–LCSC
9FC-DA1608BK-470H101–LCSC
10ESP-01S1–LCSC
11FC-DA1608HRK-620D1–LCSC
122.54 3PIN10––
131M1––
141k3––
15TS-1088R-020261–LCSC
16SS12D071––
17M3铜柱_LCEDA4–LCSC
18STM32F411CEU61–LCSC
19oled1––
2032.768KHz1–LCSC
2112MHz1–LCSC
22XH2.54-4AW2–LCSC
23HDR-M-2.54_1x41–LCSC
24+5V1––
25+3.3V1––
26GND1––

26 of 26 parts have no price in the source, so there is no parts total. Read from HDK/Wufu_V3/BOM_PCB_F411CEU6-fly_2021-09-01.csv at the pinned commit.

Build guide

The creator's steps, each with its instructions.

  1. 1Component Selection and Procurement
  2. 2PCB Adapter Board Design
  3. 3PCB Prototyping and Assembly
  4. 4Integrated Flight Controller Schematic Design
  5. 5Integrated Flight Controller Prototyping and Soldering
  6. 6PWM Pulse Output Implementation
  7. 7ESC PWM Signal Recognition and Speed Control
  8. 8I2C Communication Protocol Development
  9. 9OLED Data Display Integration
  10. 10MPU6050 Read/Write Functionality
  11. 11MPU6050 Basic Configuration
  12. 12IMU, Accelerometer, Temperature, and Barometer Data Reading
  13. 13HMC5883L Magnetometer Integration with MPU6050 I2C Bus
  14. 14HMC5883L Configuration and Data Reading
  15. 15PWM Input Capture
  16. 16UART Data Transmission and Reception
  17. 17Interrupt-Based Program Control
  18. 18Module Integration
  19. 19DMP Porting and Adaptation
  20. 20Sensor Calibration

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • STM32F411CEU6 microcontroller
  • MPU6050 IMU (gyroscope, accelerometer, temperature)
  • HMC5883L magnetometer
  • GY-86 sensor module
  • FC-DA1608BK-470H10 and FC-DA1608HRK-620D inductors
  • SS12D07 switches
  • SC662K-3.3V voltage regulator
  • ESP-01S Wi-Fi module
  • 0.96 inch OLED display
  • 32.768 kHz and 12 MHz crystals
  • 10 µH inductors
  • 1 µF, 2.2 µF, 0.1 µF capacitors

Connections

  • I2C bus connecting STM32F411CEU6 to MPU6050 and HMC5883L
  • PWM outputs from STM32F411CEU6 to four brushless motor controllers
  • UART connection between STM32F411CEU6 and ESP-01S
  • SPI connection between STM32F411CEU6 and OLED display
  • 3.3 V and 5 V power rails distributed to sensors and modules

Cables and connectors

From the parts list.

  • XH2.54-4AW × 2