FSi6_Receiver-BTS_Bridge-MPU6050-V1

PWM/PPM radio receiver stack for FS-i6 class transmitters with dual BTS7960 motor bridge control and integrated IMU handling.

Component layout

Main loop updates three modules in sequence: radio receiver data, IMU state, and drive logic. This provides deterministic control updates at the configured loop delay.

Motor bridge configuration

Both left and right motors use dedicated RPWM/LPWM plus enable lines. The motor controller is initialized once and consumed by drive logic each loop.

Left:  RPWM=5  LPWM=6  LEN=7  REN=8
Right: RPWM=9  LPWM=10 LEN=11 REN=12

Receiver and mode execution

The receiver module captures channel values and mode state, then DriveLogic maps them to motor outputs. With IMU active, additional behavior can be attached to yaw-aware or stabilized movement modes.

rcReceiver.update();
imuHandler.update();
ReceiverData rcData = rcReceiver.getData();
driveLogic->update(rcData);

Where this fits

This folder is useful when operating from an RC transmitter path (FS-i6 family) instead of ESP-NOW input, while still keeping BTS7960 + sensor-assisted control architecture.

Build / Flash

cd firmware/receiver/fsi6-bts/mpu6050-v1
pio run
pio run --target upload