What exactly is dRehmFlight VTOL?
dRehmEngFlight is a modified fork from dRehmFlight by Nicholas Rehm that has been pared down such that it can be utilized in autonomous drone settings with the use of machine learning algorithms being run on a separate chip to the Teensy. The purpose of this fork was to remove any radio connection and implement UART connectivity such that the flight controller could directly receive information from the other chip.
That being said please donate to Nicholas Rehm, this is an impressive project he underwent. Paypal Donation
This flight controller is based off of the Teensy 4.0 microcontroller and MPU6050 6DOF IMU. The following components (available on Amazon) are required to complete the flight controller assembly:
Teensy 4.0: https://amzn.to/3oFG3QN
Alternative Links: Sparkfun, Adafruit, Electromaker
Due to supply chain issues, the Teensy 4.0 has been frequently out of stock throughout 2022. The Teensy 4.1 is generally in stock more often and is immediately compatible with the dRehmFlight pin mappings (plus you get extra bonus pins!): https://amzn.to/3c1OSSw
GY-521 MPU6050 IMU: https://amzn.to/3edF1Vn
These (and all Amazon links contained within the supporting documentation) are Amazon Affiliate links; by purchasing from these, I receive a small portion of the revenue at no cost to you. I appreciate any and all support! Buy all of the parts here.
Code is uploaded to the board using the Arduino IDE; download the latest version here: https://www.arduino.cc/en/main/software
To connect to the Teensy, you must also download and install the Teensyduino arduino add-on; download and instructions available here: https://www.pjrc.com/teensy/td_download.html
This code is a shared, open source flight controller for small micro aerial vehicles and is intended to be modified to suit your needs. It is NOT intended to be used on manned vehicles. I do not claim any responsibility for any damage or injury that may be inflicted as a result of the use of this code. Use and modify at your own risk. More specifically put:
THIS SOFTWARE IS PROVIDED BY THE CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.