Table of Contents

1. Introduction

2. Disclaimer

3. Off-the-shelf components

3.1. Helicopter platform
3.2. Embedded computer
3.3. Accelerometers and gyros
3.4. Other equipment

4. Hardware

4.1. Voltage regulator mod
4.2. PWM injection mod
4.3. Xbox controller mod

5. Software

6. System integration

7. Operation

7.1. Remote control over Bluetooth (or Wi-Fi)

8. Roadmap

8.1. Sensors
8.2. Flight control software

9. Related open-source projects

Bibliography

Glossary

List of Figures

1. Contents of the integrated controller in a typical commercial microhelicopter kit
2. RC receiver board details and modifications (in red)
3. Mixer configuration xpad_ccpm120_mode2.mix.
4. Coefficients for 120° CCPM mixing (for reference).
5. Helicopter + ARM + Linux.
6. Rear view with connector on I/O daughterboard.
7. Bluetooth/Wi-Fi remote control overview

List of Tables

1. RC receiver PWM outputs
2. I/O daughterboard pin assignments.