Fly controller for Arduino platform

Note: The package is still under development

Currently status

• Implemented Serial protocol
• Added BMA180 (accelerometer), BMP085 (barometer), HMC5883 (magnetometer) and ITG3200 (gyroscope) sensors
• Implemented I2C bus

To disable some sensor simple comment out from config.h header file. To init sensors simple call sensor_init method.

Some sample usage:

#include "Arduino.h"
#include "main.h"
#include "sensor/sensors.h"
#include "sensor/imu.h"

uint64_t currentTime;

void setup() {
    Serial1.begin(115200);

    Serial1.println("Setup");

    sensors_init();
}

void loop() {
    currentTime = (uint64_t) micros();

    char buf[100];

    sensor_update();
    Serial1.println("Acc");
    sprintf(buf, "Roll: %d Pitch: %d Yaw: %d", imu.accADC[ROLL], imu.accADC[PITCH], imu.accADC[YAW]);
    Serial1.println(buf);

    Serial1.println("Gyro");
    sprintf(buf, "Roll: %d Pitch: %d Yaw: %d", imu.gyroADC[ROLL], imu.gyroADC[PITCH], imu.gyroADC[YAW]);
    Serial1.println(buf);

    Serial1.println("Mag");
    sprintf(buf, "Roll: %d Pitch: %d Yaw: %d", imu.magADC[ROLL], imu.magADC[PITCH], imu.magADC[YAW]);
    Serial1.println(buf);

    delay(500);
}

Sensor datasheets

• BMA180 - BMA180-DataSheet-v2.5.pdf
• BMP085 - BST-BMP085-DS000-05.pdf
• HMC5883 - HMC5883.pdf
• ITG3200 - PS-ITG-3200-00-01.4.pdf