Add flight controller

Signed-off-by: Arnaud Morin <arnaud.gfpv@mailops.fr>

frame.py

@@ -16,6 +16,7 @@ from camera_mount import result as CAMERA_MOUNT
 import standoff as SO
 from standoff import result as STANDOFF
 from lollipop import result as LOLLIPOP
+from fc import result as FC, PCB_DENSITY
 
 OUT = "build"
 
@@ -28,10 +29,9 @@ COLORS = {
     "spar":         cq.Color(0.22, 0.62, 0.35),   # green
     "camera_mount": cq.Color(0.95, 0.78, 0.09),   # yellow TPU
     "standoff":     cq.Color(0.75, 0.76, 0.78),   # aluminium
-    "lollipop":     cq.Color(0.95, 0.78, 0.09),   # yellow TPU, as the mount
+    "lollipop":     cq.Color(0.95, 0.78, 0.09),   # yellow TPU
+    "fc":           cq.Color(0.42, 0.28, 0.62),   # PCB purple
     "prop":         cq.Color(0.55, 0.55, 0.60),   # opaque: a ring hides
-                                                  # nothing, so there is no
-                                                  # call for transparency
 }
 
 DENSITY = {
@@ -40,6 +40,7 @@ DENSITY = {
     "camera_mount": TPU_DENSITY,
     "standoff": SO.ALU_DENSITY,
     "lollipop": TPU_DENSITY,
+    "fc": PCB_DENSITY,
 }
 
 # --- propellers -------------------------------------------------------------
@@ -77,6 +78,7 @@ PARTS = [
     ("camera_mount", CAMERA_MOUNT, P.THICKNESS,   "solid"),
     ("standoff",     STANDOFF,     SO.OD,        "solid"),
     ("lollipop",     LOLLIPOP,     3.5,          "solid"),
+    ("fc",           FC,           11.0,         "solid"),
 ]
 
 
@@ -90,9 +92,9 @@ def _loc(x, y, z, rot_z, flip=0.0):
 
 
 def pieces():
-    """[(name, tag, solid, Location)] -- the 19 bodies, straight off the
-    placement helpers: 2 plates, 4 arms, 8 motor bases, 4 spars, 1 camera
-    mount."""
+    """[(name, tag, solid, Location)] -- the 25 bodies, straight off the
+    placement helpers: 2 plates, 4 arms, 8 motor bases, 4 spars, 4 standoffs,
+    1 camera mount, 1 antenna holder, 1 fc stack."""
     out = []
     for i, (x, y, z, rz) in enumerate(P.plate_placements()):
         out.append(("plate", "plate_%s" % ("bottom", "top")[i],
@@ -121,6 +123,14 @@ def pieces():
     # height that clears both plates.
     out.append(("lollipop", "lollipop_0", LOLLIPOP,
                 _loc(0.0, -22.0, 7.0, 90.0)))
+    # fc: the stack stands on the bottom plate's top face, over the 25.5 square
+    # the plate is drilled for.  fc.py puts its own origin at the underside of
+    # its posts, so that face is the whole placement.  The 45 deg is not
+    # cosmetic: fc.py sets its posts on the diagonals at (+-12.75, +-12.75),
+    # while the plate drills the same 25.5 square with its holes on the axes at
+    # 25.5/sqrt(2) = 18.03.  Same radius, turned an eighth of a turn, so without
+    # this the screws miss.
+    out.append(("fc", "fc_0", FC, _loc(0.0, 0.0, P.THICKNESS, 45.0)))
     return out
 
 
@@ -175,11 +185,13 @@ def bom(ps):
         print("  %-12s %4d  %6.1f  %9.3f  %9.3f"
               % (name, qty, thick, each, each * qty))
     print("  %-12s %4d  %6s  %9s  %9.3f" % ("FRAME", len(ps), "", "", total))
-    print("  carbon at %.2f g/cm3, TPU camera_mount at %.2f g/cm3,"
-          " aluminium standoffs at %.2f g/cm3;"
-          % (P.CF_DENSITY * 1e3, TPU_DENSITY * 1e3, SO.ALU_DENSITY * 1e3))
-    print("  the standoffs are the only hardware counted -- no screws, motors"
-          " or electronics")
+    print("  carbon at %.2f g/cm3, TPU parts at %.2f g/cm3, aluminium"
+          " standoffs at %.2f g/cm3," % (P.CF_DENSITY * 1e3, TPU_DENSITY * 1e3,
+                                         SO.ALU_DENSITY * 1e3))
+    print("  fc as a solid block of FR4 at %.2f g/cm3 -- an envelope, not a"
+          " board" % (PCB_DENSITY * 1e3,))
+    print("  hardware counted is the standoffs and the fc stack -- no screws,"
+          " motors, props or receiver")
     return total