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QUADCOPTER

(★ 107)

A quadcopter controler on a Raspberry PI

파일 탐색기

최종 버전 다운로드 (.zip)

- main.cpp
- Makefile
- net.h
- pyserver.py
- - main_quad.c
  - Makefile
- - euler_matrix.c
  - euler_matrix.h
  - global.h
  - main_quad.c
  - Makefile
  - quad_dyn.c
  - quad_dyn.h
- quad-properties.ods
- helper_3dmath.h
- I2Cdev.cpp
- I2Cdev.h
- Makefile
- MPU6050.cpp
- MPU6050.h
- MPU6050_6Axis_MotionApps20.h
- mpu6050_dmp.cpp
- mpu6050_dmp.h
- README
- #p#
- cli.cpp
- cli.h
- dmp.cpp
- dmp.h
- global.h
- helper_3dmath.h
- I2Cdev.cpp
- I2Cdev.h
- main.cpp
- main.h
- Makefile
- Makefile.old
- MPU6050.cpp
- MPU6050.h
- MPU6050_6Axis_MotionApps20.h
- net.cpp
- net.h
- parser.cpp
- parser.h
- pid.cpp
- pid.h
- servo.cpp
- servo.h
- timer.cpp
- timer.h
- - .classpath
  - .project
  - AndroidManifest.xml
  - proguard.cfg
  - project.properties
- LICENCE
- quadcontrol-v0.1.apk
- README.md
- calibrate_ESC
- global.h
- kbhit.cpp
- kbhit.h
- main.cpp
- Makefile
- servo.cpp
- servo.h
- servoblaster-1us.tar.gz
- test_ESC
.gitignore
LICENCE
README.md
TODO.md

# 설치 가이드

1. 코드 내려받기

git clone https://github.com/vjaunet/QUADCOPTER

깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.

cd QUADCOPTER

방금 내려받은 프로젝트 폴더 안으로 이동합니다.

2. Make

보통 추천

사전 준비물

Git GitHub에서 프로젝트 코드를 내려받으려면 필요합니다.
Make Linux/macOS는 보통 기본 설치되어 있습니다. Windows는 별도 설치(예: MSYS2, WSL)가 필요합니다.

cd AND2RPI

이 프로젝트의 관련 파일이 하위 폴더 안에 있어서, 먼저 그 폴더로 이동합니다.

make

생성된 빌드 설정을 바탕으로 실제 컴파일을 진행해 실행 파일을 만듭니다.

✅ 에러 없이 끝나면 성공입니다. 생성된 실행 파일을 직접 실행해보세요.

// repository documentation

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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 :
- https://github.com/richardghirst/PiBits
for ServoBlaster that I use to control the ESCs and the MPU6050 Digital motion processing.

- https://github.com/big5824/Picopter
for the Timing and the code structure

- https://code.google.com/p/owenquad/
for the Android app

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.