Course Content

1. CH0: Introduction to the Course

   3 lessons

   1. 0 - Welcome to the Course
   2. 1 - PDF Slides
   3. Header and Source Files used in this course

2. CH1: Essential Components and Tools

   3 lessons

   1. 1 - Flight Controller and Drone companion
   2. 2 - Motor Connections
   3. 3 - ST-Link, Board programming

3. CH2: Motor Control

   5 lessons

   1. 1 - Motor Fundamentals
   2. 2 - PWM Generation to Control the Motor speed
   3. 3 - Motor Control Library
   4. 4 - BLDC Motor and ESC
   5. 5 - Running the BLDC Motor using the ESC and PWM signal

4. CH3: IMU Integration

   5 lessons

   1. 1 - Welcome words
   2. 2 - SPI Configuration
   3. 3 - IMU SPI Intarface Check
   4. 4 - Library Integration
   5. 5 - Final test

5. CH4: Attitude Estimation

   38 lessons

   1. 1 - attitude estimation intro
   2. 2 - timer update interrupt

   1. Attitude Estimation Course Excerpt CH1

      1. 2 - STM32 CubeIde Project creation
      2. 3 - Using SWV for printf function
      3. 4 - Using SWV to plot variables
      4. 5 - SPI theory
      5. 6 - SPI Configuration using STM32CubeMx
      6. 7 - SPI wirings
      7. 8 - Reading ‘Who am I’ register
      8. 9 - Sending data through SPI

   2. Attitude Estimation Course Excerpt CH2

      1. 1 - First version of the library
      2. 2 - Testing the library
      3. 3 - How to read the magnetometer?
      4. 4 - Magnetometer update 1
      5. 5 - Magnetometer update 2
      6. 6 - Testing a new version of the library
      7. 7 - DMA Theory
      8. 8 - DMA configuration

   3. Attitude Estimation Course Excerpt CH3

      1. 1 - Removing gyroscope biases
      2. 2 - Magnetometer bias explanation
      3. 3 - Timer Update Interrupts
      4. 4 - Magnetometer bias removal
      5. 5 - Normalization and scaling of IMU data
      6. 6 - ARM MATH Library Installation
      7. 7 - Library Integration
      8. 8 - A notion of frame
      9. 9 - Testing the library

   4. Attitude Estimation Course Excerpt CH4

      1. 1 - Attitude estimation, slides
      2. 2 - A notion of frame in detail
      3. 3 - 2D rotation
      4. 4 - Euler angles and Rotation Matrix
      5. 5 - Using the accelerometer to obtain pitch and Roll angles
      6. 6 - Using the magnetometer to obtain the Yaw angle
      7. 7 - Using the gyroscope to obtain the Euler angles
      8. 8 - Library Integration
      9. 9 - Complementary Filter
      10. 10 - Testing the libraries

   5. Final Library Integration

      1. 4-library integration

6. CH5 - Proportional-Integral-Derivative (PID) Controller

   5 lessons

   1. 1 - pid introduction
   2. 2 - pid theory
   3. 3 - pid implementation
   4. 4 - pid implementation
   5. 5 - pid tuning

7. CH6 : Make the Drone Fly!

   4 lessons

   1. 1 - introduction
   2. 2 - library integration
   3. 3 - drone configuration
   4. 4-final integration

8. CH7 : RC Joystick Integration

   4 lessons

   1. 1 - RC Joystick Introduction
   2. 2 - RC Joystick Explanation
   3. 3 - Timer Input Capture Mode
   4. 4 - Joystick Drone Control

9. CH 9 - Pressure sensor for Altitude Estimation

   4 lessons

   1. 1 - How to use the pressure sensor for the altitude estimation
   2. 2 - Integrating the library for the pressure sensor
   3. 3 - Demonstration of the altitude estimation
   4. 4 - Altitude Control