# Avem :bird:
[![Build Status](https://travis-ci.org/but0n/Avem.png)](https://travis-ci.org/but0n/Avem)

![](rm_img/PF.png)

[UAV] - [STM32F103] - 6 Axes sensor MPU6050 - Quaternion & Euler Angles Compute - PID Controller

# GPIO List
MPU6050 			| BLDC 			| Wi-Fi | GPS
:----:				|:----:			|:----: |:---:
**`SCL`** PB15	|**`CH1`** PA6	|**`USART3_TX`** PB10|*TBD*
**`SDA`** PB14	|**`CH2`** PA7	|**`USART3_RX`** PB11|*TBD*
					|**`CH3`** PB0
					|**`CH4`** PB1
# Todolist
* Software **I2C**
* Init **MPU6050**
* Get 3 axes `Gryo` and 3 axes `Accel` data from MPU6050
* Cumpute Quaternion and **Euler** Angles
* **PWM** output
* Driving motors with **L9110S**
* **PID** Control
* Schematic
* PCB Layout
* Brushless DC motor-[Video on YouTube](https://youtu.be/iHYVgTmxoSw)
* **Wi-Fi**(`ESP8266`)
	* TCP/IP Socket connect with host
	* PID debug
	* **GPS**
	* 3D print or CNC cut
	* ... ...

----

# Hardware
> Old Version

![](rm_img/PCB/old_pic.jpg)

> New Version

![](rm_img/FinalVersion.JPG)


## 3D Moudle

![](rm_img/PCB/demoV2.png)

## PCB Layout
Front

![](rm_img/PCB/layoutF.png)

Back
![](rm_img/PCB/layoutB.png)

## Schematic

![](rm_img/pcb.png)