Starting the wiring harness build - Teensy 4.1 powered fully custom drone.
I've designed, built, and programmed this drone entirely from scratch. This is the last mock assembly before a final and full build with a permanent wiring harness.
The goal of this project is to learn advanced control theory - specifically implementing a successful Extended Kalman Filter. That's a hard thing to do and there's several more months of data collection and work before this will fly.
Motor: 6s Electronic Ducted Fan (EDF) with 8.2lbs max thrust
Main Power: 2x 6s 2200mAh 60C batteries in parallel, 120A ESC
Logic/Servo Power: 2s 1500mAh 60C
Logic: Teensy 4.1 (state estimation / control), ESP32s3 (UI / telemetry), IMU, 2x INA226 modules (volt/amp sensors), MTF-02p (LiDAR / optical flow sensor), FS-iA10B Rx, and an ST7789 1.54" full color display w/rotary encoder for UI.
Control: 4x High Voltage Brushless Servos w/direct mounted control vanes.