ShittyRover-Autopilot

This is a simple autopilot for the ShittyRover project. It has an IMU and magnetometer for heading and tilt information.
It uses a simple PID controller to control the steering and throttle of the rover, which is this repo.
There's also an RK3588 board for AI functions, but it's not implemented yet.

Hardware

• FMU MCU: STM32G431CBU6
• IO MCU: STM32G030C8T6 (for motor control)
• IMU: BMI088
• Magnetometer: QMC5883L
• Power: 6S LiPo

Build the firmware

This is a PlatformIO project, so you need to install PlatformIO first.
Pin configuration (except for the screen) is in include/config.h, the screen is configured directly in platformio.ini

0. Clone this repo:

git clone https://github.com/HQU-gxy/ShittyRover-Autopilot/ --recursive --depth=1

1. Open the project in PlatformIO
2. Set the debug_tool and upload_protocol in platformio.ini to fit your debugger
3. Build and upload the project