As my bachelor’s project (February to June 2019), I build and programmed an autonomous quad-copter using a Teensy 3.6 and ESC’s from KISS. The Teensy 3.6 is designed around an ARM Cortex-M4 processor, running 180 MHz, allowing for some complex control systems to be implemented without having any issues with timing.
The physical drone I designed and build myself using the 3D-CAD software called Fusion 360.
With this project I had a lot of experience with:
- Control theory and modeling
- Timing schedules using hardware timers
- DMA transfers for DShot output
- Wi-Fi communication using ESP8266