letaureau / avrminicopter-arduino

The backend controller for Arduino board

AvrMiniCopter

Arduino based copter driver.

This is just an arduino driver that handles stabilization and executes SPI received commands.

To make it work you will need:

• MPU6050/MPU9150 connected over I2C
• SPI master connected device (like Raspberry Pi) that will send commands to the driver
• 4 ESC connected to PWM ports

This has been tested on Atmega328p (16MHz).

Communication protocol

The controller support SPI based, bi-directional messaging protocol. It is used to monitor the status, request quadcopter position and send any configuration data.

Each message consists of 4 bytes:

 --------------------
| TYPE | VALUE | CRC |
 --------------------

Type  - uint8_t
Value - int16_t
CRC   - uint8_t