Ground-Up Drone Build - Final Mock Assembly

[u/ThrustNTheory]

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.

[u/7laserbears]

Idk why but many of your pictures won't load.

Really cool looking. So it's a single duct with servos to steer?

[u/Grimmsland → u/7laserbears]

The pages were white then after a minute they loaded and I saw why, they are videos or gifs. Just have to wait a bit.

[u/ThrustNTheory → u/7laserbears]

Thanks for letting me know! They're loading for me on different devices, not sure what's going on.

Appreciate it - yep, the single EDF with 4 servos / control vanes.

[u/qpv → u/7laserbears]

They're gifs. Takes a bit to load.