JetsonCopter

Flight controller firmware for quadcopter powered by Nvidia Jetson Nano, BNO055 IMU, and PCA9685 PWM Controller.

• PID Algorithm -> Pitch and Roll
• PI Algorithm -> Yaw

Motor Layout

Location	PCA9685 Channel		Location	PCA9685 Channel
Front Left	0		Front Right	1
Back Left	2		Back Right	3

Lift Off!

1. Execute make in root of this repo.
2. Navigate to output and execute ./Hermies

Controlling Hermies

1. Gains
   • The user can controll all 3 main PID controller gains during flight (PITCH, ROLL, YAW)
   • However, PITCH and ROLL use the same gain values.

Base Speed Control

Key	Description
UP-ARROW	++ speed of all motors by 1 point.
DOWN-ARROW	-- speed of all motors by 1 point.

Pitch and Roll Control

Key	Description	*	Key	Description
q	++ 'P' gain by 1.0 point.	*	a	-- 'P' gain by 1.0 point.
w	++ 'I' gain by 0.1 point.	*	s	-- 'I' gain by 0.1 point.
e	++ 'D' gain by 5.0 point.	*	d	-- 'D' gain by 5.0 point.

Yaw Control

Key	Description	*	Key	Description
z	++ 'P' gain by 1.0 point.	*	c	-- 'P' gain by 1.0 point.
x	++ 'I' gain by 0.1 point.	*	v	-- 'I' gain by 0.1 point.

To-Do List

• Create motor controller class based on bit-banging GPIO. Should make changing motor speed way faster!
• Add new bit-banged motor controller code into main flight controller.
• Assess new speed of overall control law. I want a single cycle to take < 4ms