Ecosyste.ms: Awesome

An open API service indexing awesome lists of open source software.

Awesome Lists | Featured Topics | Projects

https://github.com/jeancollas/raspicop

Implementation of a C++ Raspberry quadricopter
https://github.com/jeancollas/raspicop

Last synced: 21 days ago
JSON representation

Implementation of a C++ Raspberry quadricopter

Awesome Lists containing this project

README 

        
# Raspicop

Implementation of a C++ Raspberry quadricopter



It is 'another' Picopter project, which still needs a lot of work to compete some other more advanced projects.

This project has been mainly done for fun, and started from scratch for educational purposes (Github, Raspberry, C++, sensors, ...). 

It is composed of several modules, and is not finished yet, the application framework is done but the pilot is missing :)



I have started this repository to share my -very high- number of issues faced while implementing, hope this will help some people, and probably me in the future. I spent quite some hours on making everything work well, especially the 3D thing.

It aims at being improved. 



More to come!



\o/ My first Github repository filled!



# History

I started this project by buying a Raspberry Pi 2, some sensors, ESC and motors. 

More details to come...



# What this code does



For the moment it is limited to the MPU control, some console interaction over SSH, some display console and 3D via GTK over SSH, that will be extended to radio-communication.

The control of ESCs will be implemented using the Servoblaster library of richardghirst.



# Howto



    make

    sudo ./Raspicop 2> errorOutput



# Hardware



## Yet handled



    Raspberry Pi 2

    Wifi dongle

    MPU-6050 (Accelerometer, Gyroscope)

    HC-SR04 (Distance sensor)

    

## To come



    ESCs (half way)

    GY-264 HMC5883L (Compass)

    RFM12B (radio transmitters)

    or HC-12 SI4463 (wireless serial port)

    3G USB key (if ok with power consumption) + GPS for remote flights

    HC-SR501 (Infrared sensor)

    Camera + Infrared camera

    Battery checker

    

    Some Arduino delegation is useful

    

    

# Software

    Raspbian Jessie

    bcm2835 library

    gtkmm

    samba (to edit under windows)

    

    Windows + Putty + XLaunch

    

## To come

    a way to work I2C in user land (currently sudo)

    Servoblaster

    



# Content



## Main files and config

    config.h    // Hadware and loop config

    signals.h    

    worker.h    // Async worker

    main.cpp    // Main file

    main.h     

    Makefile    



## MPU6050 module

    helper_3dmath.h             // Original 3DMath helper

    I2Cdev.h                    // I2Cdev lib from jrowberg

    MPU6050_6Axis_MotionApps20.h // from jrowberg

    MPU6050.cpp                 // from jrowberg

    MPU6050.h                   // modified MPU6050 object

    MPU6050_Output.cpp          // MPU6050 object extension

    MPU6050_Output.h            // MPU6050 output object



## Console interaction and display modules

    inputs.h            // IO helpers functions

    helper_string.h     // string helper

    keyboard.cpp        // keyboard console module

    keyboard.h          // keyboard console module

    display.h           // console display module



## 3D Display

    geometry.h          // Objects definition

    copter3d.h          // 3D copter component

    window3d.h          // Window used to display the 3D copter



# Specific issues encontered



## Username/password

First problem when starting the Pi: what is the default username/password?? Ok, after a little search it is pi/raspberry

Then how to set an "easy" password because we don't care about security: password has to be set via sudo: sudo su; passwd pi;



## Issue with the Wifi configuration, net access over wifi when the LAN is connected

    sudo apt-get remove ifplugd

    sudo route del default

    sudo route add default gw 192.168.1.1 # (wifi router IP)



## To find the Pi IP if assigned with dynamic DHCP sous windows (cmd), quick check all IPs of subnet:



    FOR /L %I IN (1,1,254) DO @echo %I & ping.exe -w 10 -n 1 192.168.1.%I | FIND /i "TTL"



## No X for sudo ssh applications



When running a GTK application over ssh, if the app is ran under sudo, it fails. 

Solution:

    Run script enableSudoDisplay.sh



What does it do: 

    xauth list

    sudo xauth add $

    where $ is the line corresponding to the X window.



## Setup Samba to edit the project via windows (quite easy)



    sudo apt-get install samba

    sudo smbpasswd -a pi

    sudo nano /etc/samba/smb.conf



then add something like this (Prog will be the name of the shared folder)



    [Prog]

    path = /home/pi/projects

    valid users = pi

    writable = yes



Under windows 10:



    Explorer: \\192.168.1.11 (any pi IP)

    click on a folder, in the ribbon: "rapid access" > Map to keep it as a network drive.