Onboard-Firmware

This firmware was written using Platform.io, an extension to vscode for microcontrollers programming, please use it to be able to compile and upload the code properly.

This reposotory also uses git submodules to point to the require libraries needed, please clone this repo, do not download it, then run the following:

git submodule init
git submodule update

Current status

The firmware at the moment successfuly does the folllwing:

• Initlizie and read sensors:
  • MPU9250 IMU
  • MS5611 barometer
  • Generic NMEA GPS (BN220)
  • INA260
  • HC-SR04 ULTRASONIC SENSOR
• 4 MICRO QUADROTORS
• RADIO IS THE XBEE S2C
• CAMERA STREAM WITH ESP32 CAM

To Do List

• calibrate barometer
• calibrate imu
• get gps to 10Hz update rate
• reduce groundstation control to drone response latency