My QuaXCopter Project.


Hi Everyone.

I've been working on my Quadrotor project for one year. My last attempt was not good enough to fly. The control board worked well, but... i had problem with the frame. The frame was not enough rigid to absorb the mechanical vibrations coming from the motors. So, the IMU reported inaccurate data. Knowing all these errors, i flew my Quadcopter just some centimeters above ground without success. 

Some months later, I decided to give the project another try, with new changes on the control board and definitely on the frame "the frame will be smaller".
Inspired by a Quadcopter frame made of Q10 material that I found in internet. The new design of the Quadcopter it will be of Q10. A good friend of mine will help me with on the QuadCopter frame.
Last weekend, I just finished my new Control Board. Powered by a ARM Microcontroller.
Hera are the Control Board Specifications:

  • Stellaris Cortex-M3 microcontroller (LM3S5749).
  • IMU sensor  9DOF sensor stick.
  • Wireless communication via Bluetooth or RF, (Bluetooth module UART and NRF24L01 module SPI).
  • Temperature Sensor.
  • Sonar Sensor.
  • USB connection. 

I would like to show you some pics of the control board:

The rest of this month and the next one, I will work it on the firmware development. Once everything on the control board is working properly. I will post specifications, schematics and code. I will keep you informed.

Would accept any suggestion or recommendations.



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  • Code Release!

    @Alonso Rodriguez take a look to the code!

    IMU/AHRS code for the Stellaris Microcontroller Families. 
    Using the 9DOF Sensor Stick - Main structure -> finite-State Machines, to road and write the sensors.
    Orientation configuration option see .H files.
    DCM code & Compass Code both uses Fixed-Point Library IQMath.

  • Hi Alonso,

    Thanks! These microcontrollers are good, TI have good technical support "E2E", another important fact, TI provide  good free libraries. Like IQMath! for Fixed-point arithmetic.  
    I use CCS v4.
    Of course I'll post Code and Schematics, just give me one more week to put in order all the code.

    Something else, you choose the right pad to learn a new MCU and "the harder" but.... it's part of learning.

    Any help is appreciated and if there is anything I can do to help, please don't hesitate to let me know.


  • Juan,

    I’m very excited about your progress with the board.
    I’m particularly excited because you have decided to use the TI Stellaris Cortex because I just love that micro family.
    I was wondering if you are using code composer or IAR or maybe something else.
    Also do you plan on posting any information such schematics or code.
    I would love to help in the development of this.

    I was considering purchasing the Ardu Pilot but don’t really want to learn a new MCU and I’m not too interested in the AtMega processors.   So using the Stellaris would be so cool.



  • Hi Hector,

    Thanks for the advice! Now, with this information, I have 2 options "from my point of view"  
    - Place a screw in the mounting hole (with the gap below the IMU. And no foam).
      Or Place a screw in the mounting hole but... without the gap "This will eliminate the not desired effect"

    I think, both are viable options, "I prefer  the second option". Additionally I can place a foam layer be low the Main board to mitigate vibrations.
    What do you think?


  • Hi Juan!

    Well, as it is shown in your Figures, the IMU board only has one mount point, and this point is at the edge.

    For an accelerometer the effect is the same like a  diving board (  ) .

    Although putting foam below the IMU could mitigate, you will still have vibrations in the Z axis (the further to the mounting point the bigger vibrations in XY as well) as the board is completely free. 

    There is a big mounting hole in the IMU board, maybe you will figure out now why is here.


  • Hey Hi Thomas!
    It's good to hear from you. And thanks!

     I mount the IMU board, using the same method that DVD system laser anti-vibration. "Not good enough effective, for these type of applications"
    This time, I'll use an anti-vibration foam very common on RC applications. but... let me investigate about "Diving Board". It is a good method to eliminate vibrations?

  • You said that you had vibrations issues in the past... and you mount the IMU board like a "diving board"???

  • @ThomasB

    I will update my diydrones blog with code and examples. Give me some time ^_^

  • Hi Juan,

    Looks good  :)

    Good luck with the firmware.


    Started some similar project with an other Olimex board, so I would be happy to see your source if it's open  ;)

  • I'm completely sure, you will be interested in the following video:

    I use an Olimex CortexM3 H107. With an stick imu, like you.

    The cortex execute a complete extended DCM. Only takes 1ms.

    You can use TestIMU if you like it.

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