Custom Cyberpunk Drone - but first FOC mechanics

Hey so just wanted to flex a bit as building some totally pointless and potentially over engineered toy inspired by a Wyvern Drone from Cyberpunk 2077 game.

Just sharing some progress on the project.

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I use T-Motor GB2208 for pitch and GB36-1 for roll…
AS5600 encoders.
Custom dual driver Deng he L6432 driver without current sense. Planning to sidechain INA chip a bit later.

Controlled by ESP32.

Assembled final actuator set mounted on carbon rod
https://photos.app.goo.gl/XctUgYD4hzCpJnNX8

Latest Update:
Somewhat tuned my Tmotor PID for smooth rotation.
And controlling it by MPU6050.
Figured that I want to getAngle from MPU6050 and multiply it by pi/2 for that 90 Deg rotation alignment.

https://photos.app.goo.gl/8zvoaJTGFdmxV9zv8

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Update on assembly. 2 out of 6

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Looking awesome! Please keep us updated :pray:

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