FRDM-Copter is an attempt to build firmware for mbed based multicopter running on FRDM boards from Freescale.
So far the following boards are used:
In addition I am planning on using:
I decided to use mbed platform as it allows easy CMSIS-DAP debugging and firmware can be easily ported to other mbed enabled devices in future.
Sensor fusion will be implemented and estimated orientation plotted over blue-tooth in the Android application.
PID controller will be used to maintain orientation and control the motors using PWM channels, tuning will be possible in the Android application.
Controll will be implemented with CR20A 2.4Ghz module for use with Frsky Taranis.
All schematics will be transferred to KiCad on a single board.