This is a project for the hardware and software of a quadcopter.
The quadcopter is 3D printed and all CAD work is done in OnShape in this project
The control simulator uses ImGui to allow for real-time data viewing and parameter tuning. Below is a snapshot of the GUI:
A custom flight controller made in KiCAD exists in the hardware/ directory. This is a breakout board for a Teensy, BNO055 IMU, a GPS module and the PWM outputs for the ESCs.
There is a gazebo simulation environment in the simulation/ directory. It is somewhat functional, but more work has been put into the control simulation GUI. The current gazebo settings aren't configured for the actual drone.