Main PID regulator is written in Arduino/C, the biggest problem is to tune pid regulator
Esc are directly controlling brushless motors to keep propellers thrust proportional to controller pwm signal (arduino). Arduino is computing pwm control signal based on data from Mpu sensor (pitch roll yaw), to keep drone stable. Communication is built with NRF radio modules to send control: drone pitch, roll, yaw and power of drone thrust 10-100%. The drone is powered by 3s 4200mah LiPo battery.
- Propellers: 4x 1045 10 inch Dia 4.5 inch Pitch CW/CCW Prop
https://www.aliexpress.com/item/32835557625.html?spm=a2g0s.9042311.0.0.75ae4c4dl7BsaM - Giroscope/Accelerometer Sensor : MPU-6050 MPU6050
https://www.aliexpress.com/item/2035920870.html?spm=a2g0s.9042311.0.0.75ae4c4dl7BsaM - Radio module: NRF24L01+PA+LN
https://www.aliexpress.com/item/32341792715.html?spm=a2g0s.9042311.0.0.75ae4c4dl7BsaM - Battery: 11.1v 4200mah 35c3S Lipo
https://www.aliexpress.com/item/32706870314.html?spm=a2g0s.9042311.0.0.75ae4c4dl7BsaM - Charger: IMAX B3 Pro Compact Balance Charger for 2S 3S 7.4V 11.1V
https://www.aliexpress.com/item/32827966737.html?spm=a2g0s.9042311.0.0.75ae4c4dl7BsaM - Battery tester: Low Voltage tester
https://www.aliexpress.com/item/591711957.html?spm=a2g0s.9042311.0.0.75ae4c4dl7BsaM - Esc: EMAX SimonK ESC 12A Speed Controller Brushless ESC For FPV RC UAV Quadcopter
https://www.aliexpress.com/item/32425895363.html?spm=a2g0o.productlist.0.0.2d233009iFSe5r - Controller: Arduino nano
https://www.aliexpress.com/item/32832366092.html?spm=a2g0s.9042311.0.0.27424c4dOhcB6F - Morots: 2212 920KV Brushless Motor CW CCW
https://www.aliexpress.com/item/32275914092.html?spm=a2g0s.9042311.0.0.27424c4deDhWoQ - Frame: self-made out of aluminum components