drone-autopilot

DO NOT FLY THIS BUILD

v0.5 paper-correct skeleton. PID gains, sensor scales, failsafe thresholds, and motor mapping are starting-point values that need bench tuning + ground-tied throttle tests before a real airframe goes near them. [UNTESTED].

A self-contained PID-stabilised quadcopter flight controller running on an E1M-AEN module. The full real-time control stack in one app: IMU sample → attitude estimation → cascaded PID → motor mixer → ESCs.

Source: examples/drone-autopilot/.

Three deterministic control loops

Loop	Rate	Priority	Responsibility
Rate	1000 Hz	highest	Inner-loop angular-rate PID; 4× ESC outputs every tick.
Attitude	250 Hz	middle	Outer-loop angle PID; rate setpoints fed into the inner loop.
Nav + battery + failsafe	25 Hz	low	GPS hold, RTL trigger, low-battery RTL, link-loss failsafe.

board.yaml

schema_version: 2

som:
  sku: E1M-AEN701

carrier:
  name: E1M-EVK

cores:
  m55_hp:
    os: zephyr
    app: ./src
    peripherals: [pwm, i2c, uart]
    libraries: [madgwick_ahrs]

chips:
  - lsm6dso
  - bmp390
  - ublox_neo_m9n
  - ina236

diagnostics:
  log_level: info

See also

• drone-hud — head-up display variant
• Examples overview