Quadrotor Control Testbed

This BSc graduation project focuses on developing an embedded angle-control testbed for a 4-DOF quadrotor. The main goal was to design and validate a real-time control stack that stabilizes and controls the euler angles of a fixed-position quadrotor platform.

Key Implementation Points

• Real-Time Control: Developed in C on an STM32F7 microcontroller, ensuring high-speed control loop execution. Keil µVision/CubeMX used for configuring peripherals.
• PID-Based Stabilization: Low-level PID controllers regulate euler angles; and gains were tuned by manual-tuning method through bench tests.
• Sensor Handling: Integrated BNO055 IMU data for real-time orientation feedback, enabling precise control calculations.
• Ground-Station Integration: Python + ROS scripts provide joystick-based reference angles and log telemetry for monitoring and analysis.
• Rapid Prototyping: Lightweight mechanical frame assembled from Makeblock components for quick testing and validation.