The project objective was to build a self-stabilizing, flying quadrocopter that can be controlled remotely by a mobile phone, PC or joystick.

Components and wiring

In addition to the Teensy3.1, CC3000, 10DOF (L3G4200D, ADXL345, HMC5883L, BMP085) we have also a Ublox NEO-6M for GPS, 2 control LEDs and a Piezo beeper for status messaging.

You may ask why we use in addition to the HMC5883L a second electronic compass (LSM303DLH). The reason is that the electronic compass on the main board is extremely sensible to the magnetic environment coming from the WiFi and ESC. I found a better place below the battery but that required to add the additional module. Also, the compass is very sensible to the vibrations from the motor. I used the same approach as with the tilt, to combine the compass measurement with the gyro with quite good results and low standard deviation in the measurement.
Here a few downloads to see the layout in Fritzing:

• Sketch
• Part for 10DOF module, see for example here at ebay
• Part for Ublox NEO-6M

The software supports X-shape and cross-shape arm layouts. For the sake of simplicity I chose the cross style.

Some more information:

• Kalman, PID, ESC parameters:

HPR data : 0.000 -3.397 -1.313
PID data : 0.214 0.279 0.280
Heading PID data : 0.210 0.721 1.094
Kalman data : 0.195 0.021 18.156
MinMax data : 54.709 48.697 52.305 171.844
heading MinMax data : 3.439 7.623 5.579 8.417
Gyro calibration data : -14.680 -36.850 20.320
ESC data : 1050 900 2400
Low pass data : 0.227

• Private github repository