FSi6_Receiver-BTS_Bridge-V1

Baseline FS-i6 radio receiver integration with BTS7960 motor bridge control, focused on simple and deterministic drive behavior.

Baseline architecture

This project keeps only the receiver and motor drive layers. It omits IMU processing to reduce complexity and support fast bring-up during hardware integration.

Motor channel map

Dual BTS bridge channels are mapped identically to the MPU variant, making migration between the two builds straightforward.

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

Control loop behavior

Loop cycle updates receiver input, fetches normalized channel data, and executes drive mode logic. This is useful for validating transmitter mapping and direction logic before adding extra sensors.

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

Recommended usage

Choose this variant when you want a minimal RC-to-motor bridge stack with low overhead. Upgrade to the MPU6050 variant when orientation-assisted behavior is required.

Build / Flash

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