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https://github.com/sebastianbrzustowicz/quadcontrol
Java + JUnit. Quadcopter control software for RaspberryPi 4 with remote client communication via API.
https://github.com/sebastianbrzustowicz/quadcontrol
api concurrency control control-systems java junit quadcopter raspberrypi4 raspbian real-time remote remote-control respberry-pi rpi4 threading threads websocket
Last synced: 5 days ago
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Java + JUnit. Quadcopter control software for RaspberryPi 4 with remote client communication via API.
- Host: GitHub
- URL: https://github.com/sebastianbrzustowicz/quadcontrol
- Owner: sebastianbrzustowicz
- License: other
- Created: 2023-11-30T06:05:11.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2024-03-07T20:35:30.000Z (11 months ago)
- Last Synced: 2024-11-13T23:30:47.612Z (2 months ago)
- Topics: api, concurrency, control, control-systems, java, junit, quadcopter, raspberrypi4, raspbian, real-time, remote, remote-control, respberry-pi, rpi4, threading, threads, websocket
- Language: Java
- Homepage:
- Size: 1.94 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
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README
## QuadControl
QuadControl is a Java-based embedded application for compatible communication with a dedicated API.
A large part of this application is inner loop thrust control of the rotors based on a sensor data.
App was created especially for Raspberry Pi 4 with Raspberry Pi OS, because dedicated libraries for RPi 4 were used.
Compatible API which this embedded app is communicating with is shared [here](https://github.com/sebastianbrzustowicz/Robot-tasker-API).
You need to run the code on the Raspberry Pi 4 to be sure that the program works correctly.
### Disclaimer
Complete version which guarantee best performance is not available publicly.
Only alpha version of app with license restrictions is available.
Please contact me if you are interested in cooperation.
I am willing to help.
## Transferred data
The data retrieved from the API have to be the same in client and vehicle.
Handshake should be established between server and client according to data order.
The software provides cyclic data exchange with frequency specified in main file.
The data is sent and received in raw string format and its values stands for variables below.
Frame sent to API with sensors data:
```
VEHICLE // <- fixed prefix for vehicle message
0 // <- actual roll from sensor
0 // <- actual pitch from sensor
0 // <- actual yaw from sensor
0 // <- actual altitude from sensor
0 // <- actual isClamp
END // <- fixed ending statement of message
```
Frame received from API with desired values data:
```
CLIENT // <- fixed prefix for client message
1 // <- mode
0 // <- vtol
0 // <- pitchd
0 // <- rolld
0 // <- altituded
0 // <- yawd
false // <- camTrig
false // <- camTog
0 // <- camPitch
false // <- clamp
END // <- fixed ending statement of message
```
## Tests
Some simple JUnit tests have been implemented:
```java
testUpdateControlData()
testCollisionDetection()
testExecutionTime()
```
## License
QuadControl is released under the CC BY-NC-ND 4.0 license.
## Author
Sebastian Brzustowicz <[email protected]>