This project presents a DIY quadcopter flight controller built around the STM32F103C8T6 (Black Pill) microcontroller. The system integrates an MPU6050 IMU (3-axis gyroscope + 3-axis accelerometer), an HMC5883L magnetometer (compass), and communicates wirelessly with an nRF24L01+ 2.4GHz transceiver.

The goal is to design an open-source flight controller that is low-cost, easy to build, and flexible for educational and hobbyist drone applications.

Features

• STM32F103C8T6 (ARM Cortex-M3) as the main flight controller.
• 6-DOF IMU (MPU6050) for orientation and stabilization.
• HMC5883L compass (GY-271) for heading information.
• nRF24L01+ wireless module for remote control (replacing traditional PPM/SBUS receivers).
• PWM outputs (M1–M4) to control four ESCs and brushless motors.
• Failsafe mechanism: if no valid packets are received, motors shut down safely.
• Configurable PID control for stable flight.
• Modular firmware allowing easy customization (C/C++ with STM32 HAL or Arduino Core).