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 finished drone, with the battery mounted on top and a TOF sensor mounted on the front

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

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