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# Avem :bird:

![](docs/images/header.jpg)

[UAV] - [STM32F103] - 6 Axes sensor MPU6050 - Quaternion &amp; Euler Angles Compute - PID Controller

[Details & Videos](http://bbs.5imx.com/forum.php?mod=viewthread&tid=1227960&extra=page%3D1)

Terminal demo

![](docs/images/HUD.PNG)

https://github.com/but0n/Avem_HUD

# I/O List

MPU6050 			| BLDC 				| Wi-Fi 				| GPS
:----:				|:----:				|:----: 				|:---:
**`SCL`** PB15		|**`Channel 1`** PA6|**`USART3_TX`** PB10	|*TBD*
**`SDA`** PB14		|**`Channel 2`** PA7|**`USART3_RX`** PB11	|*TBD*
 ||**`Channel 3`** PB0| | |
 ||**`Channel 4`** PB1| | |

# To-do list

- [x] Software **I2C**
- [x] Init **MPU6050**
- [x] Get 3 axes `Gryo` and 3 axes `Accel` data from MPU6050
- [x] Cumpute Quaternion and Euler Angles
- [x] **PWM** output
- [x] ~~Driving motors with **L9110S**~~
- [x] **PID** Control
- [x] Schematic
- [x] PCB Layout
- [x] Brushless DC motor-[Video via YouTube](https://youtu.be/iHYVgTmxoSw)
- [ ] **Wi-Fi**(`ESP8266`)
- [x] [Cascade PID control](https://github.com/but0n/Avem/blob/master/docs/README.md)
- [x] FreeRTOS
- [x] Host: Flask + pyserial
- [ ] PID debug
- [ ] **GPS**

# Hardware
![](docs/images/PF.png)

## Schematic
![](docs/images/pcb.png)

## PCB Layout

Version 3.0

![](docs/images/PCB/demoV3.0.JPG)

[Documents](docs/)

Made with ♥ by but0n

一键复制编辑原始数据按行查看历史

提交于 2017-07-21 23:51 . doc: update

Avem

[UAV] - [STM32F103] - 6 Axes sensor MPU6050 - Quaternion & Euler Angles Compute - PID Controller

Details & Videos

Terminal demo

https://github.com/but0n/Avem_HUD

I/O List

MPU6050	BLDC	Wi-Fi	GPS
`SCL` PB15	`Channel 1` PA6	`USART3_TX` PB10	TBD
`SDA` PB14	`Channel 2` PA7	`USART3_RX` PB11	TBD
	`Channel 3` PB0
	`Channel 4` PB1

To-do list

Hardware

Schematic

PCB Layout

Version 3.0

Documents

Made with ♥ by but0n

https://gitee.com/Avem/Avem.git

git@gitee.com:Avem/Avem.git

Avem

master

Avem / Avem

Avem

I/O List

To-do list

Hardware

Schematic

PCB Layout

简介

发行版

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近期动态

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Avem

I/O List

To-do list

Hardware

Schematic

PCB Layout

简介

发行版

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