venu-drone

🛸 Mini Drone Project — System Reboot & Architecture Reconstruction

This repository contains the restructured and modernized version of my earlier autonomous mini-drone project.
I am currently reviewing my previous firmware, hardware notes, log files, and prototype designs to rebuild a coherent architecture before moving forward with development.

The goal of this reboot is to establish a clean, modular, and testable drone stack that includes:

• A flight controller firmware (IMU → Sensor Fusion → PID → Motor Mixing)
• A radio control system (RX/TX protocol, packet integrity, channel mapping)
• Simulation support (Gazebo / MATLAB models)
• Supporting tools (log parsing, telemetry visualization, firmware flashing utilities)

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🔄 Current Phase: Legacy File Review

Before writing new firmware, I am focusing on:

1. Legacy Code Analysis

• Extracting reusable modules (PID, motor_control, imu_driver)
• Identifying outdated or deprecated HAL APIs
• Cleaning or rewriting modules for maintainability

2. Architecture Reconstruction

• Re-establishing subsystem boundaries
• Updating directory structure to follow embedded best practices
• Migrating toward a unified coding standard (C99 or C11)

3. Hardware Validation

• Reviewing ESC, IMU, and power stage notes
• Checking sensor interfaces (I²C/SPI timing, sampling constraints)
• Re-documenting frame geometry for mixer calculations

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🚀 Upcoming Work

Firmware Roadmap

• Rewrite the IMU driver layer
• Implement a configurable complementary filter (→ Madgwick → EKF pipeline)
• Rebuild motor mixing for quad-X configuration
• Implement loop timing and scheduler
• Add link-loss failsafe + arming logic

Tooling Roadmap

• Flight log format (binary + CSV export)
• Real-time plotting tool (Python / Matplotlib)
• Firmware uploader script for dev workflow

Hardware Roadmap

• Validate IMU orientation & axis alignment
• Recheck ESC throttle calibration curves
• Select battery + regulator combination
• Build V1 prototype frame

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📂 Repository Layout (Technical)

firmware/ flight_controller/ remote_control/ common/ simulation/ tools/ hardware/ tests/

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📒 Dev Log Entries (per update)

Each commit or weekly update will follow a structured template:

Dev Log Template

## 📝 Dev Log — <Date>

### ✅ What I Reviewed Today
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### 🔍 Insights From Old Files
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### 🔧 What I Refactored / Cleaned
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### 🚀 Next Small Steps
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### 🧠 Notes to Future Me
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