YMFC-32 | Part 4 | a DIY 32-bit STM32 and Arduino based quadcopter flight controller

In this video I explain how balance the propellers and how to test and prepare the YMFC-32 quadcopter for the first flight.

The YMFC-32 is a 32-bit follow-up flight controller of the 8-bit YMFC-AL. The processor speed is also a major difference.... 72MHz vs 16MHz! This will make it possible to further develop the code in the future.

The YMFC-32 is not a high level flight controller. Its purpose is to give others a head start to develop their own 32-bit flight controller. This with the easy to use and familiar Arduino IDE.

The YMFC-32 project page:

Setting up the Arduino IDE for uploading programs to the STM32:

The YMFC-32 quadcopter playlist:

Video about the quadcopter PID controller and PID tuning:

The small indoor quadcopter:

[BernhardHofmann]

Your contribution to demystifying all of the technology involved in these quadcopters is second to none. Your patient and calm explanation of all the aspects of how things work has been educational and entertaining for me to watch over the months I've followed you. Thank you so much for the time you've given to this and the knowledge you've passed on so willingly. 👍

[alexdeo]

Hey Joop, 4 years later and your excellent videos has provided me great insight into building my own quadcopter for my own University's project with my personal geofence algorithm added. Many many thanks on these excellent videos!

[AlvaroPandolphousa]

I did it!!
Thank you Mr Brokking
I did all testes and the quadcopter is working as expected
Now I will wait for a good weather (Boston-MA-USA)
and test outside.
I am very happy with this project
Thank you again

[cbnation]

Thank you for all the time you took to document your build, both here and on your website. I followed all the steps and tonight I did my first flight with my own quadcopter. There is a huge smile on my face now.

Groetjes uit België

[ELECTRONOOBS]

4 months without video? What happened???? Keep up good work!

[bartvanderhaagen]

WAUW Joop! Ik kwam voor IMU en STM32 informatie op dit filmpje. Dank je wel, mooie uitleg, pratchtige code en wat een spectaculair ding is dat zeg...

[ivosmidt]

Thank you for my first quadcopter. Everything works great!

[furkantut]

Hi, thank your for this project. You just uploaded the autonomus code only can you share this code you used in this video which is doesnt have gps and compass parts.

[javadzareii]

Hello, thank you for the great project you did. My question is that my connections are completely correct and standard. But when I connect the battery, motor 3 starts beeping. Is the problem with the code?

[robsmit]

Beste Joop Brokking,
DE STM32 flight controller werkt perfect. Enige lastige bijkomstigheid was het instellen van de channels in % op de FlySky FS transmitter, om via de seriële monitor verder te kunnen geraken in het testprogramma (throttle input te hoog) . Dankzij het testprogramma kon dit uiteindelijk gefinetuned worden. Weer een fantastisch project. Dankjewel voor het delen van die kennis. Subliem.
PS mijn vliegkunsten zijn nog steeds waardeloos. Een quadrocoptertje aangeschaft om te oefenen. :)

[murshedulhasan]

Hi. I have been following your channel for last few months. You are doing just awesome. Your style of sharing knowledge and explanation of critical technical parts in a very simple and understandable way is just awesome. I have built YMFC-AL and facing a little problem. When I start the quad, the front part leaves the ground immediately but the rear part remains on the ground. I have followed your instructions very carefully but could not able to overcome this problem. Thank you.

[mensahgideon]

I finally got this working. I had to swap the pwm read in this project with the ppm read in ymfc 32 GPS . My arduino based pwm receiver was having some spikes meaning the timing was somehow out of sync. I also edited the pid out by toning it down with a fraction. The reason I did this was because the drone was too responsive and violent.
For the pid tuning, I put I to 0.00, introduced D in yaw and reduced the Ps.

[olajideoyekunle]

Always enjoyed your videos. Very concise and full of useful and relevant information.

[stanpak]

I wonder if trying to isolate the PCB from vibrations would eliminate the need for balancing the propellers...
Inspiring project and video series.

[marcelwillers]

Hi Joop, from the software STM32 flight controller I get at compiling the following message:Multiple libraries were found for "Wire.h" 'HardWire' does not name a type any solution? Thanks Marcel pe1jnw

[aunullahqaiser]

Hey Joop, loved your work.
Your code doesn't seems to work with all receiver I guess. I tried it with a Fs-iA6b Reciever but the receiver inputs occassionally shows very large values such as 22000, 28786, etc especially when I increase all the channels to greater than 1500. And sometimes it works normally. I tried to find any connection mistakes but failed. Is it a Reciever compatibility issue or have I messed up some where else? Any suggestions.
By the way huge fan of your work.

[MrRonychakraborty]

Hello Joop,
I have successfully tested MARG(Mahony madgwick algorithm) with STM32 400Hz. Calculation is pretty Faster then Arduino Mega. The IMU was Mpu6050 + HMC5883l. Next i will try to use it as a replacement of Complimentary filter. However i will upload the Video and source code soon.

[yuzhang]

Hi Joop, like your videos. I bought your listed the parts for the quadcopter and waiting for arrival. Hopefully I could follow your videos and putting them together.

[kjoh]

one other thing I would like to do is change the orientation of the MPU6050, it's just not convenient to mount it the standard way on my quad. Would it be as simple as swapping the pitch and roll numbers in the gyro_signalen routine?

Great series of videos, by the way.

[ric_nhut]

Hello Joop, I can't find your HardWire class for the project, Did you have used it? because i currently cause this error when i compile code