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 6 Axis IMU (Accelerometer+Gyro) 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 IMU through I2C (RTIMULib)
• CLI to test over ssh connection

This project is based on source code from:

• https://github.com/big5824/Picopter

It uses ServoBlaster to control the ESCs:

• https://github.com/richardghirst/PiBits

It uses RTIMULib to handle the sensors:

• https://github.com/richards-tech/RTIMULib

Many thanks to these people.

This projects includes:

• 1 Raspberry Pi model B
• 1 QuadCopter frame
• 4 Electronic Speed Controllers (Q Brain 4 x 20A Brushless Quadcopter)
• 4 brushless motors (Turnigy Multistar 2213-980Kv)
• 2 props 9047 + 2 props 9047R (Right Hand Rotation)
• 1 6 axis IMU supported by RTIMULib (MPU6050 + optional HMC5883L digital compass)
• 1 LiPo 3s battery (Turnigy 3000mAh 3S 20C Lipo Pack)
• 1 Android device for remote

Other useful hardware:

• 1 TURNIGY BESC Programming Card
• 1 TURNIGY 3~8S Voltage Detector
• 1 Hobbyking DC-4S Balance Charger & Cell Checker 30w 2s~4s

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

ESCs: -GND -> GND -Signal Servo 0 -> pin 15 -Signal Servo 1 -> pin 16 -Signal Servo 2 -> pin 18 -Signal Servo 3 -> pin 22

(from: http://blog.bitify.co.uk/2013/11/interfacing-raspberry-pi-and-mpu-6050.html)

First you need to install the relevant Linux drivers, here's how. Open the file for editing (needs sudo)

sudo vi /etc/modules

add the following lines to the bottom of the file, save it and reboot the Pi

i2c-bcm2708
i2c-dev

Now check the blacklists file

sudo vi /etc/modprobe.d/raspi-blacklist.conf

and make sure that the following lines start with a # (a comment) if they are present, if not don't worry

#blacklist spi-bcm2708
#blacklist i2c-bcm2708

To connect the sensor you need to use the GPIO pins on the Pi, the important pins are • Pin 1 - 3.3V connect to VCC • Pin 3 - SDA connect to SDA • Pin 5 - SCL connect to SCL • Pin 6 - Ground connect to GND these need to be connect as shown in the image.

git clone https://github.com/richardghirst/PiBits
cd PiBits/ServoBlaster
make servod

If you want to start ServoBlaster from command line:

sudo ./servod --p1pins=15,16,18,22,0,0,0,0 --min=1000us --max=2000us --cycle-time=20000

If you want to start ServoBlaster as daemon:

sudo make install

edit /etc/init.d/servoblaster to change the parameters

git clone git://git.drogon.net/wiringPi
cd wiringPi
./build