HolmnerPiQuadcopter

Control system for quadcopters implemented on a Raspberry Pi. Uses:

• Raspberry Pi 3 Model B
• Accelerometer / Gyro: MPU6050
• Radio transmitter: Hobby King 2.4Ghz 6Ch Tx & Rx V2 (Mode 2)
• Motors: 4x FC 28-22 (1200kv)
• ESC: 4x Hobbyking SS Series 15-18A ESC
• Barometer BMP280 (optional)

Build

gcc -Wall -pthread -o "Quadcopter_Holmner_run" *.c -lwiringPi -lpigpio -lm

Current status:

This project was discontinued before liftoff, but all necessary parts are there, reading and filtering of sensor data, reading radio controller stick inputs, performing PID control and controlling the ESCs. Some manual tweaking would likely be neccesary before taking any DIY quadcopter in the air. The barometer data is currently not used by the control loop, but the data is read and available for anyone wanting to use it.

HOW TO USE

1. Download and install the wiringPi library
2. Download and install the pigpio library
3. Make sure that I2C is activated on your Raspberry Pi (just google how)
4. To increase the I2C baud rate to 400kHz (recommended), add dtparam=i2c1_baudrate=400000 to /boot/config.txt
5. Go through the SETTINGS area in the main() function to setup GPIO pins etc.
6. Build settings: gcc -Wall -pthread -o "Quadcopter_Holmner_run" *.c -lwiringPi -lpigpio -lm

NOTE

This software was developed on the Raspberry Pi 3 Model B. The linux distribution used was: Raspbian GNU/LINUX 8 The sofware used for writing and compiling the code was Geany 1.24.1

HARDWARE

The following hardware was used for this project (using other hardware may demand changing the code, especially for communication interfaces).

• Raspberry Pi 3 Model B
• Accelerometer / Gyro: MPU6050
• Radio transmitter: Hobby King 2.4Ghz 6Ch Tx & Rx V2 (Mode 2)
• Motors: 4x FC 28-22 (1200kv)
• ESC: 4x Hobbyking SS Series 15-18A ESC
• Barometer BMP280 (optional)

CREDITS

Code written by Josef Holmner 2018. It is free to use and modify. Happy flying :)