![MiniQ](https://github.com/billhsu/MiniQ/raw/master/doc/MiniQ_Logo.png)
=====

[![Gitter](https://badges.gitter.im/Join Chat.svg)](https://gitter.im/billhsu/MiniQ?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

MiniQ: An opensource mini quadcopter, from hardware design to control algorithms.

<table>
  <tr>
    <th>Type</th><th>Chipset</th>
  </tr>
  <tr>
    <td>MCU</td><td>STM32@72MHz</td>
  </tr>
  <tr>
    <td>Accelerometer</td><td>MPU6050</td>
  </tr>
  <tr>
    <td>Gyro</td><td>MPU6050</td>
  </tr>
  <tr>
    <td>Magnetometer</td><td>HMC5338l</td>
  </tr>
</table>

The algorithm used for altitude heading reference system (AHRS) is **DCM complementary filter**.  
The system calculates altitude and controls the output PWMs of the four motors 1600 times per sec.  
It can be controlled remotely with Bluetooth(Bluetooth Serial Port Profile).

For demo video:  
DemoVideo1: [优酷](http://v.youku.com/v_show/id_XNTc0MTE5NjY0.html) [YouTube](http://www.youtube.com/watch?v=iOF2OyRmbeg)  
DemoVideo2: [优酷](http://v.youku.com/v_show/id_XNTczOTY4NDIw.html) [YouTube](http://www.youtube.com/watch?v=TcqmwWvhcKs)

PCB Preview  
![MiniQ](https://github.com/billhsu/MiniQ/raw/master/doc/MiniQ_PCB.PNG)

MiniQ  
![MiniQ](https://github.com/billhsu/MiniQ/raw/master/doc/MiniQ.jpg)
![MiniQ](https://github.com/billhsu/MiniQ/raw/master/doc/pcb.jpg)

PC control  
![MiniQ](https://github.com/billhsu/MiniQ/raw/master/doc/AHRS_Viewer.png)

Android control  
![MiniQ](https://github.com/billhsu/MiniQ/raw/master/doc/android.png)

##Author
**Shipeng Xu**

+ http://BillHsu.me
+ http://twitter.com/1991bill
+ http://weibo.com/billhsu

