App controlled quadcopter with onboard camera implemented using the Freenove ESP32-WROVER CAM Board. Included: Android Controller Code folder containing the quadcopter remote Android app C# code, written in MS Visual Studio. ESP32-WROVER MCU Code folder containing the MCU control embedded C code, written in Arduino IDE (Espressif "esp32" core library v.2.0.10)
The user connects their Android device to the quadcopter's Wi-Fi access point in order to control the quadcopter using the Android app.
IMPORTANT NOTE: Drone pilots in Canada must adhere to the rules stated in the CARs (Canadian Aviation Regulations), and must be in possession of a valid drone pilot certificate (basic or advanced operations, depending on the context) to operate drones in excess of 250g that are marked and registered. A SFOC (Special Flight Operations Certificate) is required, in addition to the drone pilot certificate, in special cases (i.e. foreign pilot, exceeding 400 ft. AGL, etc.). A drone pilot certificate and drone registration is not required for drones that do not exceed 250g, and indoor/outdoor RPAS (remotely piloted aircraft systems) activities are exempt from the CARs. Please refer to the Transport Canada website (https://tc.canada.ca) for a comprehensive list of regulations and guidelines.
Net Mass With Landing Gear: 848g
- Assembled quadcopter frame and installed an MCU (ESP32-WROVER CAM board), a LiPo Battery (11.1V, 1700mAh, 120C, 3S), an accelerometer/gyroscope (MPU6050), a barometric pressure sensor for altitude (BMP180), x4 brushless DC motors (A2212 KV2200), and x4 ESCs (30A)
- Setup ESP32-WROVER in Wi-Fi AP mode and configured a dedicated server using Arduino IDE
- Developed an Android app interface in Microsoft Visual Studio
- Established communication between ESP32-WROVER and Android app using HTTP (HTTP.GET requests & responses)
- Defined x4 PWM outputs to control the motors via the electronic speed controllers
- Installed x2 CCW and x2 CW props on the quadcopter
- Added "Stop" button to Android app to implement an abrupt emergency shutdown of the quadcopter. Quadcopter is in "Stop" state at startup
- Added functionality to enforce hover state on release of Android app buttons
- Changed line 16 of RC_ESC -> src -> ESC.h from "#include Servo.h" to "#include ESP32Servo.h"
- Included "ESC.h" (from "RC_ESC" library by Eric Nantel) and "ESP32Servo.h" (from "ESP32Servo" library by Kevin Harrington) at the beginning of the main casper.ino file
- Replaced faulty ESC3 (electronic speed controller attached to motor M3)
- Ran preliminary tests to check motor functionality, lift, and app<->MCU responsiveness
- Replaced broken prop (damaged in flight test) and opposing/mirroring prop with placeholders
- Tuned DAC outputs against quadcopter weight to add basic flight and hover functionality
- Achieved vertical take-off
- Adjusted motor thrusts, mindful of susceptibility of ESCs to blowing up when overdriven for long periods
- Replaced electronic speed controller ESC 1 (burned) and motor M2 (broken connector) combination. Cheaper to buy as a set, rather than sourcing replacement connectors, etc.
- Sourced uniform props
- Interfaced IMU (gyroscope rotational data & barometer altitude information) with ESP32-WROVER
- Use IMU barometer/gyroscope data to complete flight controller with rotational constraints and improved flight functionality
- Allow capture of a still image using the ESP32-WROVER camera when the "Capture" button is pressed on the Android app