dRehmFlight is the flight controller for hobbyists, hackers, and non-coders interested in stabilizing their wacky and unique flying creations. The code and supporting documentation is built to bring someone up to speed on VTOL flight stabilization concepts as quickly and painlessly as possible. The code is written and presented in a way that is intuitive, easy to follow, and most importantly: all in one place. No more digging through countless folders and confusing classes just to add an 'if' statement for your custom drone application. This flight controller uses an Arduino-compatible microcontroller, so there is no confusing flashing or compiling process necessary. If you can use Arduino, you can start expanding the capabilites of this flight controller to your liking.
dRehmFlight has been used as a teaching tool for aircraft stabilization and flight control principles in universities and tech companies around the world. It is not meant to out-perform other flight controller packages on the market, or be used in a commercial sense. It is best suited for rapid prototyping or allowing a radio control hobbyist to get their feet wet in flight control code for their VTOL project. Much more information is included in the dRehmFlight VTOL Documentation .pdf.
This code is entirely free to use and will stay that way forever. If you found this helpful for your project, donations are appreciated: Paypal Donation
New in Beta 1.3:
- Spektrum DSM Satellite RX Support
- One-time IMU calibration
- ESC calibration functionality
- Motor arming bug fix
- Code and comment clean up
- Small bug fixes
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!
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
Building the Flight Controller Hardware
Setting Up Your Radio Connection
Mounting and Configuring the IMU
How the Flight Controller Code Works
Building and Coding an RC F-35 VTOL
dRehmflight has been successfully implemented on the following platforms:
Autonomous Quadrotor: https://www.youtube.com/watch?v=p8frNNYQNV4
Quadrotor Biplane VTOL: https://www.youtube.com/watch?v=rk4tUKM6bd0
Dual Cyclocopter: https://www.youtube.com/watch?v=JoVmejDsMrM&
VTOL F-35 Tricopter: https://www.youtube.com/watch?v=RqdcZD0ZoUk
Model SpaceX Starhopper: https://www.youtube.com/watch?v=VsyFejn40Ss
Model SpaceX Starship: https://www.youtube.com/watch?v=5lwH7xJnB4I
Inverted Pendulum Drone Stabilization: https://www.youtube.com/watch?v=XmYRQi48s-8
Fixed Wing Ground Effect Vehicle: https://www.youtube.com/watch?v=uaY2G5Kbj_g
Spinning Tricopter VTOL: https://www.youtube.com/watch?v=7JH1_ZKV7t4
Model Joby EVTOL: https://www.youtube.com/watch?v=Dd2N_lyO_SQ
Model V-22 Osprey: https://www.youtube.com/watch?v=2OGkYfOs9EU
Tricopter Tailsitter: https://www.youtube.com/watch?v=8MJNfkEBRMY
Tail-less Albatross: https://www.youtube.com/watch?v=1ifR_cvjpjk
Bicopter VTOL: https://www.youtube.com/watch?v=XPXN0QejqM0
I would love to see your flying creations and maybe feature them here as well. Please email me at NicholasRehmYT@gmail.com with any videos/pics of your project. -Nick Rehm
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.