# Avem

**Repository Path**: lmx89/Avem

## Basic Information

- **Project Name**: Avem
- **Description**: 轻量级无人机飞控项目
集成 MPU6050 六轴传感器，支持四元数与欧拉角计算、PID 控制算法，适配 BLDC 无刷电机。硬件层面涵盖电子罗盘、气压传感器、GPS、射频电路等模块，软件支持 I2C、SPI、UART 等多种通信协议，可实现无人机稳定飞行与数据传输。
- **Primary Language**: C
- **License**: MIT
- **Default Branch**: develop
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2026-01-08
- **Last Updated**: 2026-02-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

[![Build Status](https://travis-ci.org/avem-labs/Avem.svg?branch=develop)](https://travis-ci.org/avem-labs/Avem) [![License](https://img.shields.io/github/license/but0n/Avem.svg)](#)  [![Releases](https://img.shields.io/github/release/but0n/Avem.svg)](https://github.com/but0n/Avem/releases)  [![platform](https://img.shields.io/badge/platform-MacOS%20%7C%20Linux-orange.svg)](#)
# Avem :bird:

![](docs/images/header.jpg)

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

[Details & Videos](http://bbs.5imx.com/forum.php?mod=viewthread&tid=1227960&extra=page%3D1)

Terminal demo

<div align="center"><img src="https://cdn.rawgit.com/but0n/Avem/develop/docs/images/hud.gif"></div>

![](docs/images/HUD.PNG)

https://github.com/but0n/Avem_HUD

# I/O List

MPU6050 			| BLDC 				| Wi-Fi 				| GPS
:----:				|:----:				|:----: 				|:---:
**`SCL`** PB15		|**`Channel 1`** PA6|**`USART3_TX`** PB10	|*TBD*
**`SDA`** PB14		|**`Channel 2`** PA7|**`USART3_RX`** PB11	|*TBD*
 ||**`Channel 3`** PB0| | |
 ||**`Channel 4`** PB1| | |


# To-do list

- [x] Software **I2C**
- [x] Init **MPU6050**
- [x] Get 3 axes `Gryo` and 3 axes `Accel` data from MPU6050
- [x] Cumpute Quaternion and Euler Angles
- [x] **PWM** output
- [x] ~~Driving motors with **L9110S**~~
- [x] **PID** Control
- [x] Schematic
- [x] PCB Layout
- [x] Brushless DC motor-[Video via YouTube](https://youtu.be/iHYVgTmxoSw)
- [ ] **Wi-Fi**(`ESP8266`)
- [x] [Cascade PID control](https://github.com/but0n/Avem/blob/master/docs/README.md)
- [x] FreeRTOS
- [x] Host: Flask + pyserial
- [ ] PID debug
- [ ] **GPS**


# Hardware
![](docs/images/PF.png)

## Schematic
![](docs/images/pcb.png)

## PCB Layout

Version 3.0

![](docs/images/PCB/demoV3.0.JPG)


[Documents](docs/)

Made with ♥ by but0n