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QUADCOPTER

A new version of the Quadcopter is available at: https://github.com/vjaunet/QUADCOPTER_V2

It is now using an arduino and a 6 chanels remote

A quadcopter controller on a Raspberry PI

This project is the development of a code to control a quadcopter with a Raspberry Pi.

The main idea is to use the RPI as much as possible. The only external devices needed are a MPU6050 for attitude measurment and a Wifi dongle. The quadcopter is remotely controlled via wifi and an Android App.

The Raspberry PI hosts:

  • PID controller
  • ESC signal generator (ServoBlaster)
  • UDP server to get command from an android device
  • Communication with the MPU6050 through I2C.

The repository has several folders, that I initially made to code and test the different functions of the controller. The entire controller is in the PILOT folder.

Folders :

  • AND2RPI : a first version of socket programming for communication with a remote control over network
  • MODELS : some C programs that simulate the dyanmics of Quadcopter
  • MPU6050s : Richard Ghirst's MPU6050 tools with wrappers in order to simplify its use
  • PILOT : the complete controller currently under development
  • SERVOS : a cpp class used to write the ESC comands into /dev/servoblaster

This project is greatly inspired and using source code from :

Many thanks to these people.

First fully working version 22-01-2014

Next Steps:

  • PID fine Tunning
  • Flight Tests
  • Implementation of RaspiCam (Controller + Raspivid seem not to overload the Rpi)

Documentation

Explqnqtions of the QUADCOPTER pilot...

Hardware

This projects includes :

  • 4 brushless motors (TURNIGY 2204-14T 19g Outrunner)
  • 4 Electronic Speed Controllers (Turnigy Multistar 10 Amp)
  • 1 LiPo 3s 3700 mAh battery
  • 1 sparkfun MPU6050 breakout board
  • 1 QuadCopter frame
  • 1 Android device for remote

Wiring

MPU6050 : -VDD -> 3.3V -GND -> GND -SDA -> SDA -SCL -> SCL -VIO -> 3.3V

ESCs: -GND -> GND -Signal Servo 0 -> pin 4 -Signal Servo 1 -> pin 23 -Signal Servo 2 -> pin 24 -Signal Servo 3 -> pin 25

Note that the use of this code requires some modifications of the Servoblaster configuration.