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A ROS supported multirotor controller software for the KFly boards

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The code and specifications for the KFly PCB version 3 and above

Stuff to fix

  • Generalize RC Input, should not be dependent on the center value to determine if it is a "positive / negative only". Throttle will be used for more in the future.

Hardware Specifications

All PCBs follow the standard 36 x 36 mm outline with 30.5 x 30.5 mm mounting holes, unless nothing else is stated.

KFly PCB version 3:

  • ST's STM32F405 CPU: 32-bit ARM Cortex-M4F @ 168 MHz with 32-bit FPU and DSP
  • Invensense's MPU-6050 accelerometer / gyroscope
  • Honeywell's HMC5983 magnetometer
  • Meas. Spec.'s MS5611 pressure sensor
  • 8 outputs (50 Hz / 400 Hz / Oneshot125 / Oneshot42 / Multishot / Dshot)
  • 4 expansion connectors (3 UARTs & 1 CAN port)
  • 6 slot RC input connector with support for (C)PPM up to 8 channels in and signal strength
  • 433 MHz RF link for data, command and control transfers

KFly PCB version 4:

  • ST's STM32F765 CPU: 32-bit ARM Cortex-M7F @ 216 MHz with 64-bit FPU, DSP and advanced branch prediction
  • ST's LSM6DSM accelerometer / gyroscope
  • ST's LPS22HB pressure sensor
  • Separate analog and digital power supply with 6 V max input voltage
  • 8 outputs (50 Hz / 400 Hz / Oneshot125 / Oneshot42 / Multishot / Dshot)
  • 4 expansion connectors (4 UARTs & 1 CAN port)
  • 6 slot RC input connector with support for (C)PPM and SBUS with up to 18 channels and signal strength indication
  • MicroSD card holder for "Blackbox" flight logging

Software Specifications

Common features

  • Runs ChibiOS 16.x
  • USB Serial Bootloader - no need for an external programmer!
  • Quaternion based Square-Root Multiplicative Extended Kalman Filter (SR-MEKF) provides estimation
  • "Control signal to Motor"-mixing for different types of frames
  • Flight control: Rate mode, Attitude mode and more to come

Cortex-M7 features

  • The Cortex-M7 based (v. 4+) will be running Model Predictive Controllers (MPCs)

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A ROS supported multirotor controller software for the KFly boards

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