├── 20s_hover_fp.csv ├── 2m_square_fp.csv ├── GPS_spec.pdf ├── IMU_spec.pdf ├── Joystick_spec.pdf ├── LICENSE ├── LiDAR_spec.pdf ├── LiDARv3HP_spec.pdf ├── PhoebePresentationCamJamSept14.odp ├── Quadcopter.py ├── RC.py ├── README.md ├── RPIO.tgz ├── RPi0-PCB.brd ├── RPi3-PCB.brd ├── Sweep_spec.pdf ├── piDrones.pdf ├── pidrone ├── qc.py └── smbus2.zip /20s_hover_fp.csv: -------------------------------------------------------------------------------- 1 | # - evx is fore / aft velocity in m/s; fore is positive 2 | # - evy is port / starboard velocity in m/s; port is positive 3 | # - evz is up / down velocity in m/s; up is positive 4 | # - time is how long to maintain that speed in seconds 5 | # - name is an arbitrary name put out to console to show flight progress 6 | 7 | # evx, evy, evz, time, name 8 | 0.0, 0.0, 0.0, 20.0, HOVER 9 | -------------------------------------------------------------------------------- /2m_square_fp.csv: -------------------------------------------------------------------------------- 1 | # - evx is fore / aft velocity in m/s; fore is positive 2 | # - evy is port / starboard velocity in m/s; port is positive 3 | # - evz is up / down velocity in m/s; up is positive 4 | # - time is how long to maintain that speed in seconds 5 | # - name is an arbitrary name put out to console to show flight progress 6 | 7 | # evx, evy, evz, time, name 8 | 9 | 0.0, 0.0, 0.0, 1.0, HOVER 10 | 0.25, 0.0, 0.0, 4.0, FORE 11 | 0.0, 0.0, 0.0, 1.0, HOVER 12 | 0.0, 0.25, 0.0, 4.0, PORT 13 | 0.0, 0.0, 0.0, 1.0, HOVER 14 | -0.25, 0.0, 0.0, 4.0, AFT 15 | 0.0, 0.0, 0.0, 1.0, HOVER 16 | 0.0,-0.25, 0.0, 4.0, STARBOARD 17 | 0.0, 0.0, 0.0, 1.0, HOVER 18 | -------------------------------------------------------------------------------- /GPS_spec.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/GPS_spec.pdf -------------------------------------------------------------------------------- /IMU_spec.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/IMU_spec.pdf -------------------------------------------------------------------------------- /Joystick_spec.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/Joystick_spec.pdf -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 2, June 1991 3 | 4 | Copyright (C) 1989, 1991 Free Software Foundation, Inc., 5 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 6 | Everyone is permitted to copy and distribute verbatim copies 7 | of this license document, but changing it is not allowed. 8 | 9 | Preamble 10 | 11 | The licenses for most software are designed to take away your 12 | freedom to share and change it. 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See the 304 | GNU General Public License for more details. 305 | 306 | You should have received a copy of the GNU General Public License along 307 | with this program; if not, write to the Free Software Foundation, Inc., 308 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. 309 | 310 | Also add information on how to contact you by electronic and paper mail. 311 | 312 | If the program is interactive, make it output a short notice like this 313 | when it starts in an interactive mode: 314 | 315 | Gnomovision version 69, Copyright (C) year name of author 316 | Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 317 | This is free software, and you are welcome to redistribute it 318 | under certain conditions; type `show c' for details. 319 | 320 | The hypothetical commands `show w' and `show c' should show the appropriate 321 | parts of the General Public License. Of course, the commands you use may 322 | be called something other than `show w' and `show c'; they could even be 323 | mouse-clicks or menu items--whatever suits your program. 324 | 325 | You should also get your employer (if you work as a programmer) or your 326 | school, if any, to sign a "copyright disclaimer" for the program, if 327 | necessary. Here is a sample; alter the names: 328 | 329 | Yoyodyne, Inc., hereby disclaims all copyright interest in the program 330 | `Gnomovision' (which makes passes at compilers) written by James Hacker. 331 | 332 | {signature of Ty Coon}, 1 April 1989 333 | Ty Coon, President of Vice 334 | 335 | This General Public License does not permit incorporating your program into 336 | proprietary programs. If your program is a subroutine library, you may 337 | consider it more useful to permit linking proprietary applications with the 338 | library. If this is what you want to do, use the GNU Lesser General 339 | Public License instead of this License. 340 | -------------------------------------------------------------------------------- /LiDAR_spec.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/LiDAR_spec.pdf -------------------------------------------------------------------------------- /LiDARv3HP_spec.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/LiDARv3HP_spec.pdf -------------------------------------------------------------------------------- /PhoebePresentationCamJamSept14.odp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/PhoebePresentationCamJamSept14.odp -------------------------------------------------------------------------------- /RC.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | 3 | #################################################################################################### 4 | #################################################################################################### 5 | ## ## 6 | ## Hove's Raspberry Pi Python Quadcopter Flight Controller. Open Source @ GitHub ## 7 | ## PiStuffing/Quadcopter under GPL for non-commercial application. Any code derived from ## 8 | ## this should retain this copyright comment. ## 9 | ## ## 10 | ## Copyright 2012 - 2018 Andy Baker (Hove) - andy@pistuffing.co.uk ## 11 | ## ## 12 | #################################################################################################### 13 | #################################################################################################### 14 | 15 | from __future__ import division 16 | from smbus2 import SMBusWrapper, i2c_msg 17 | import math 18 | import socket 19 | import struct 20 | import sys 21 | import select 22 | import time 23 | import RPi.GPIO as GPIO 24 | 25 | 26 | def client(): 27 | 28 | ################################################################################################ 29 | # MAKE CONNECTION TO SERVER 30 | ################################################################################################ 31 | 32 | poll = select.poll() 33 | 34 | go_go_go = False 35 | 36 | pack_format = "=ffffb?" 37 | pack_size = struct.calcsize(pack_format) 38 | 39 | unpack_format = "=?" 40 | unpack_size = struct.calcsize(unpack_format) 41 | 42 | client = socket.socket() 43 | addr = "192.168.42.1" 44 | port = 31415 45 | 46 | ''' 47 | client_fd = client.fileno() 48 | poll.register(client_fd, select.POLLIN | select.POLLPRI) 49 | ''' 50 | 51 | ################################################################################################ 52 | # SET UP THE JOYSTICKS FSM 53 | ################################################################################################ 54 | 55 | RC_PASSIVE = 0 56 | RC_TAKEOFF = 1 57 | RC_FLYING = 2 58 | RC_LANDING = 3 59 | RC_DONE = 4 60 | RC_ABORT = 5 61 | 62 | state_name = ["PASSIVE", "TAKEOFF", "FLYING", "LANDING", "DONE", "ABORT"] 63 | 64 | status_quo = [0.0, 0.0, 0.0, 0.0] 65 | 66 | #----------------------------------------------------------------------------------------------- 67 | # Set up GPIO for button and buzzer 68 | #----------------------------------------------------------------------------------------------- 69 | GPIO.setmode(GPIO.BCM) 70 | 71 | GPIO_BUTTON = 10 72 | GPIO.setup(GPIO_BUTTON, GPIO.IN, GPIO.PUD_DOWN) # GPIO button pushed pulls GPIO high 73 | 74 | GPIO_BUZZER = 24 75 | GPIO.setup(GPIO_BUZZER, GPIO.OUT) # GPIO buzzer set high sounds the buzzer 76 | GPIO.output(GPIO_BUZZER, GPIO.LOW) 77 | 78 | #----------------------------------------------------------------------------------------------- 79 | # Acquire contact with the piDrone; only continue below once acquired. 80 | #----------------------------------------------------------------------------------------------- 81 | 82 | with SMBusWrapper(1) as bus: 83 | try: 84 | while True: 85 | 86 | #----------------------------------------------------------------------------------- 87 | # Connect to the server 88 | #----------------------------------------------------------------------------------- 89 | print "CONNECTING..." 90 | while True: 91 | try: 92 | client.connect((addr, port)) 93 | except: 94 | time.sleep(0.1) 95 | else: 96 | break 97 | print "CONNECTED." 98 | 99 | #----------------------------------------------------------------------------------- 100 | # We are connected to the piDrone. 101 | #----------------------------------------------------------------------------------- 102 | client_fd = client.fileno() 103 | poll.register(client_fd, select.POLLIN | select.POLLPRI) 104 | connected = True 105 | 106 | #----------------------------------------------------------------------------------- 107 | # Wait for a piDrone status update for go / stop 108 | #----------------------------------------------------------------------------------- 109 | go_go_go = False 110 | while connected: 111 | 112 | ################################################################################ 113 | # HANDLE MESSAGES FROM THE SERVER 114 | ################################################################################ 115 | 116 | #------------------------------------------------------------------------------- 117 | # Sleep pending an input for the piDrone 118 | #------------------------------------------------------------------------------- 119 | results = poll.poll(200) # milliseconds 120 | 121 | #------------------------------------------------------------------------------- 122 | # Check whether there's I/O from RC 123 | #------------------------------------------------------------------------------- 124 | for fd, event in results: 125 | assert fd == client_fd, "WTF HAPPENED HERE" 126 | 127 | #--------------------------------------------------------------------------- 128 | # Has piDrone told piRC to start? 129 | #--------------------------------------------------------------------------- 130 | raw = client.recv(unpack_size) 131 | assert (len(raw) == unpack_size), "Invalid data" 132 | 133 | #--------------------------------------------------------------------------- 134 | # React on the action from the message from the piDrone 135 | #--------------------------------------------------------------------------- 136 | formatted = struct.unpack(unpack_format, raw) 137 | 138 | if formatted[0]: # is True 139 | GPIO.add_event_detect(GPIO_BUTTON, GPIO.FALLING) 140 | 141 | #----------------------------------------------------------------------- 142 | # piDrone is connected, start the flight 143 | #----------------------------------------------------------------------- 144 | go_go_go = True 145 | state = RC_TAKEOFF 146 | takeoff_time = time.time() 147 | 148 | print "GO GO GO" 149 | 150 | else: 151 | GPIO.remove_event_detect(GPIO_BUTTON) 152 | connected = False 153 | 154 | #----------------------------------------------------------------------- 155 | # piDrone is disconnected 156 | #----------------------------------------------------------------------- 157 | go_go_go = False 158 | poll.unregister(client_fd) 159 | client.close() 160 | 161 | print "STOP STOP STOP" 162 | 163 | #--------------------------------------------------------------------------- 164 | # If we're now not connected, report back. 165 | #--------------------------------------------------------------------------- 166 | if not connected: 167 | continue 168 | 169 | #--------------------------------------------------------------------------- 170 | # Are we ready to go? 171 | #--------------------------------------------------------------------------- 172 | if not go_go_go: 173 | continue 174 | 175 | #------------------------------------------------------------------------------- 176 | # The piDrone is live and kicking; set the next flight increment. 177 | # 178 | # UD = Up / Down - upwards is positive 179 | # YR = Yaw Rate - anticlockwise is positive 180 | # LR = Left / Right - leftwards is positive 181 | # FB = Forwards / Backwards - forwards is positive 182 | #------------------------------------------------------------------------------- 183 | msg = i2c_msg.read(0x40, 2) 184 | bus.i2c_rdwr(msg) 185 | data = list(msg) 186 | 187 | assert (len(data) == 2), "Joystick 0 data len: %d" % len(data) 188 | 189 | if (data[0] > 127): 190 | UD = data[0] - 256 191 | else: 192 | UD = data[0] 193 | 194 | if (data[1] > 127): 195 | YR = data[1] - 256 196 | else: 197 | YR = data[1] 198 | 199 | msg = i2c_msg.read(0x41, 2) 200 | bus.i2c_rdwr(msg) 201 | data = list(msg) 202 | 203 | assert (len(data) == 2), "Joystick 1 data len: %d" % len(data) 204 | 205 | if (data[0] > 127): 206 | LR = data[0] - 256 207 | else: 208 | LR = data[0] 209 | 210 | if (data[1] > 127): 211 | FB = -(data[1] - 256) 212 | else: 213 | FB = -data[1] 214 | 215 | #=============================================================================== 216 | # FSM INPUT, STATES, OUTPUT 217 | #=============================================================================== 218 | beep = False 219 | 220 | #------------------------------------------------------------------------------- 221 | # Have we have a falling edge from the button? 222 | #------------------------------------------------------------------------------- 223 | if GPIO.event_detected(GPIO_BUTTON): 224 | 225 | #--------------------------------------------------------------------------- 226 | # If we're flying, start landing otherise abort 227 | #--------------------------------------------------------------------------- 228 | if state == RC_FLYING: 229 | print "landing-landing-landing" 230 | state = RC_LANDING 231 | landing_time = time.time() 232 | else: 233 | print "abort-abort-abort" 234 | state = RC_ABORT 235 | 236 | #=============================================================================== 237 | # FSM INPUTS 238 | #=============================================================================== 239 | if state == RC_TAKEOFF: 240 | if time.time() - takeoff_time < 3.0: # seconds 241 | UD = 0.33 242 | YR = 0.0 243 | LR = 0.0 244 | FB = 0.0 245 | else: 246 | UD, YR, FB, LR = status_quo 247 | state = RC_FLYING 248 | beep = True 249 | 250 | #----------------------------------------------------------------------- 251 | # Take the timestamp of flight, and initiate initial height 252 | #----------------------------------------------------------------------- 253 | before = time.time() 254 | height = 1.0 255 | 256 | elif state == RC_FLYING: 257 | #----------------------------------------------------------------------- 258 | # Joysticks are +/- 80, convert these to +/- 1m/s. The exception is the 259 | # yaw rate where +/-80 maps to +/- 90 degrees (pi/2) per second 260 | #----------------------------------------------------------------------- 261 | UD /= 80 262 | YR /= (80 * 2 / math.pi) 263 | FB /= 80 264 | LR /= 80 265 | 266 | #----------------------------------------------------------------------- 267 | # Integrate the height increment and mark the landing timestamo 268 | #----------------------------------------------------------------------- 269 | now = time.time() 270 | dt = now - before 271 | before = now 272 | height += UD * dt #RC! Flawed: future velocity x historic dt 273 | landing_period = height / 0.33 + 1 #RC! OK? 274 | 275 | elif state == RC_LANDING: 276 | if time.time() - landing_time < landing_period: # seconds 277 | UD = -0.33 278 | YR = 0.0 279 | FB = 0.0 280 | LR = 0.0 281 | beep = True 282 | else: 283 | UD, YR, FB, LR = status_quo 284 | state = RC_DONE 285 | beep = False 286 | 287 | else: 288 | assert state == RC_ABORT, "Should be on abort here!" 289 | UD, YR, FB, LR = status_quo 290 | 291 | output = struct.pack(pack_format, UD, YR, FB, LR, state, beep) 292 | client.send(output) 293 | print "SENT: UD = %f | YR = %f | FB = %f | LR = %f | status = %s | beep = %d" % (UD, YR, FB, LR, state_name[state], beep) 294 | 295 | else: 296 | print "DISCONNECTED DISCONNECTED DISCONNECTED" 297 | 298 | except KeyboardInterrupt: 299 | pass 300 | 301 | else: 302 | pass 303 | 304 | finally: 305 | pass 306 | 307 | client() 308 | 309 | ''' 310 | def server(): 311 | 312 | poll = select.poll() 313 | 314 | unpack_format = "=ffffb?" 315 | unpack_size = struct.calcsize(unpack_format) 316 | 317 | pack_format = "=?" 318 | 319 | server = socket.socket() 320 | addr = "192.168.42.1" 321 | port = 31415 322 | server.bind((addr, port)) 323 | server.listen(5) 324 | 325 | raw_input("Start the flight?") 326 | 327 | try: 328 | connection, addr = server.accept() 329 | connection_fd = connection.fileno() 330 | poll.register(connection_fd, select.POLLIN | select.POLLPRI) 331 | 332 | #------------------------------------------------------------------------------------------- 333 | # Tell the client to go-go-go! 334 | #------------------------------------------------------------------------------------------- 335 | output = struct.pack(pack_format, True) 336 | connection.send(output) 337 | 338 | #------------------------------------------------------------------------------------------- 339 | # Listen to the client and do what it says. 340 | #------------------------------------------------------------------------------------------- 341 | while True: 342 | results = poll.poll(200) 343 | 344 | #--------------------------------------------------------------------------------------- 345 | # Check whether there's I/O from RC 346 | #--------------------------------------------------------------------------------------- 347 | for fd, event in results: 348 | assert fd == connection_fd, "WHOSE FD IS THIS?" 349 | 350 | #----------------------------------------------------------------------------------- 351 | # Unpack the data received 352 | #----------------------------------------------------------------------------------- 353 | raw = connection.recv(unpack_size) 354 | assert (len(raw) == unpack_size), "Invalid data" 355 | 356 | #----------------------------------------------------------------------------------- 357 | # React on the action 358 | #----------------------------------------------------------------------------------- 359 | formatted = struct.unpack(unpack_format, raw) 360 | assert (len(formatted) == 6), "Bad formatted size" 361 | 362 | UD = formatted[0] 363 | YR = formatted[1] 364 | FB = formatted[2] 365 | LR = formatted[3] 366 | state = formatted[4] 367 | beep = formatted[5] 368 | 369 | print "RECEIVED: UD = %f | YR = %f | FB = %f | LR = %f | status = %s | beep = %d" % (UD, YR, FB, LR, state_name[status], beep) 370 | 371 | except KeyboardInterrupt: 372 | #------------------------------------------------------------------------------------------- 373 | # Tell the client to stop-stop-stop! 374 | #------------------------------------------------------------------------------------------- 375 | output = struct.pack(pack_format, False) 376 | connection.send(output) 377 | 378 | except Exception, err: 379 | print err 380 | 381 | finally: 382 | connection.close() 383 | 384 | 385 | if len(sys.argv) != 2: 386 | print "Select DRONE or RC" 387 | elif sys.argv[1] == "RC": 388 | client() 389 | elif sys.argv[1] == "DRONE": 390 | server() 391 | else: 392 | print "Select RC or DRONE" 393 | ''' 394 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | Quadcopter 2 | ========== 3 | 4 | Python project for an Raspberry Pi Autonomous Quadcopter Flight Controller 5 | 6 | Zoe flight 7 | 8 | Licensing 9 | --------- 10 | Creative Commons Licence
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License. 11 | 12 | Index 13 | ----- 14 | Documentation 15 | 20 | Code 21 | 27 | Flight plans 28 | 32 | Python libraries 33 | 37 | PCBs 38 | 42 | Sensors 43 | 51 | -------------------------------------------------------------------------------- /RPIO.tgz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/RPIO.tgz -------------------------------------------------------------------------------- /RPi0-PCB.brd: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | GND 81 | G21 82 | G20 83 | G26 84 | G19 85 | G16 86 | GND 87 | G13 88 | G6 89 | G12 90 | GND 91 | G5 92 | SD 93 | SC 94 | CE1 95 | GND 96 | SCK 97 | CE0 98 | G25 99 | MISO 100 | MOSI 101 | GND 102 | G24 103 | 3V3 104 | G22 105 | G23 106 | GND 107 | G27 108 | G17 109 | G18 110 | RXD 111 | GND 112 | CLK 113 | GND 114 | SCL 115 | 5V 116 | 5V 117 | 3V3 118 | ID 119 | 120 | 121 | 122 | TXD 123 | SDA 124 | TOP 125 | BOTTOM 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | <b>EAGLE Design Rules</b> 178 | <p> 179 | Die Standard-Design-Rules sind so gewählt, dass sie für 180 | die meisten Anwendungen passen. Sollte ihre Platine 181 | besondere Anforderungen haben, treffen Sie die erforderlichen 182 | Einstellungen hier und speichern die Design Rules unter 183 | einem neuen Namen ab. 184 | <b>EAGLE Design Rules</b> 185 | <p> 186 | The default Design Rules have been set to cover 187 | a wide range of applications. Your particular design 188 | may have different requirements, so please make the 189 | necessary adjustments and save your customized 190 | design rules under a new name. 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | 340 | 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 351 | 352 | 353 | 354 | 355 | 356 | 357 | 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | 367 | 368 | 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | 402 | 403 | 404 | 405 | 406 | 407 | 408 | 409 | 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 434 | 435 | 436 | 437 | 438 | 439 | 440 | 441 | 442 | 443 | 444 | 445 | 446 | 447 | 448 | 449 | 450 | 451 | 452 | 453 | 454 | 455 | 456 | 457 | 458 | 459 | 460 | 461 | 462 | 463 | 464 | 465 | 466 | 467 | 468 | 469 | 470 | 471 | 472 | 473 | 474 | 475 | 476 | 477 | 478 | 479 | 480 | 481 | 482 | 483 | 484 | 485 | 486 | 487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 496 | 497 | 498 | 499 | 500 | 501 | 502 | 503 | 504 | 505 | 506 | 507 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 515 | 516 | 517 | 518 | 519 | 520 | 521 | 522 | 523 | 524 | 525 | 526 | 527 | 528 | 529 | 530 | 531 | 532 | 533 | 534 | 535 | 536 | 537 | 538 | 539 | 540 | 541 | 542 | 543 | 544 | 545 | 546 | 547 | 548 | 549 | 550 | 551 | 552 | 553 | 554 | 555 | 556 | 557 | 558 | 559 | 560 | 561 | 562 | 563 | 564 | 565 | 566 | 567 | 568 | 569 | 570 | 571 | 572 | 573 | 574 | 575 | 576 | 577 | 578 | 579 | 580 | 581 | 582 | 583 | 584 | 585 | 586 | 587 | 588 | 589 | 590 | 591 | 592 | 593 | 594 | 595 | 596 | 597 | 598 | 599 | 600 | 601 | 602 | 603 | 604 | 605 | 606 | 607 | 608 | 609 | 610 | 611 | 612 | 613 | 614 | 615 | 616 | 617 | 618 | 619 | 620 | 621 | 622 | 623 | 624 | 625 | 626 | 627 | 628 | 629 | 630 | 631 | 632 | 633 | 634 | 635 | 636 | 637 | 638 | 639 | 640 | 641 | 642 | 643 | 644 | 645 | 646 | 647 | 648 | 649 | 650 | 651 | 652 | 653 | 654 | 655 | 656 | 657 | 658 | 659 | 660 | 661 | 662 | 663 | 664 | 665 | 666 | 667 | 668 | 669 | 670 | 671 | 672 | 673 | 674 | 675 | 676 | 677 | 678 | 679 | 680 | 681 | 682 | 683 | 684 | 685 | 686 | 687 | 688 | 689 | 690 | 691 | 692 | 693 | 694 | 695 | 696 | 697 | 698 | 699 | 700 | 701 | 702 | 703 | 704 | 705 | 706 | 707 | 708 | 709 | 710 | 711 | 712 | 713 | 714 | 715 | 716 | 717 | 718 | 719 | 720 | 721 | 722 | 723 | 724 | 725 | 726 | 727 | 728 | 729 | 730 | 731 | 732 | 733 | 734 | 735 | 736 | 737 | 738 | 739 | 740 | 741 | 742 | 743 | 744 | 745 | 746 | -------------------------------------------------------------------------------- /RPi3-PCB.brd: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | GND 93 | G21 94 | G20 95 | G26 96 | G19 97 | G16 98 | GND 99 | G13 100 | G6 101 | GND 102 | G5 103 | SD 104 | SC 105 | CE1 106 | GND 107 | SCK 108 | CE0 109 | G25 110 | MISO 111 | MOSI 112 | GND 113 | G24 114 | G22 115 | G23 116 | GND 117 | G27 118 | G17 119 | G18 120 | RXD 121 | GND 122 | CLK 123 | TXD 124 | SCL 125 | SDA 126 | 5V 127 | 5V 128 | 3V3 129 | ID 130 | 131 | 132 | 133 | 134 | 135 | 136 | GND 137 | G21 138 | G20 139 | G26 140 | G19 141 | G16 142 | GND 143 | G13 144 | G6 145 | G12 146 | GND 147 | G5 148 | SD 149 | SC 150 | CE1 151 | GND 152 | SCK 153 | CE0 154 | G25 155 | MISO 156 | MOSI 157 | GND 158 | G24 159 | 3V3 160 | G22 161 | G23 162 | GND 163 | G27 164 | G17 165 | G18 166 | RXD 167 | GND 168 | CLK 169 | TXD 170 | GND 171 | SCL 172 | SDA 173 | 5V 174 | 5V 175 | 3V3 176 | ID 177 | 178 | 179 | 180 | 181 | UART 182 | 183 | 184 | 185 | 186 | 187 | 188 | I2C 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | SPI 200 | TOP 201 | BOTTOM 202 | SDA=G2 203 | SCL=G3 204 | CLK=G4 205 | TXD=G14 206 | RXD=G15 207 | 208 | MOSI=G10 209 | MISO=G9 210 | SCK=G11 211 | CE0=G8 212 | CE1=G7 213 | SDA=G2 214 | SCL=G3 215 | CLK=G4 216 | TXD=G14 217 | RXD=G15 218 | 219 | MOSI=G10 220 | MISO=G9 221 | SCK=G11 222 | CE0=G8 223 | CE1=G7 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 3V3 244 | 245 | 246 | 247 | 248 | 249 | PWR 250 | 251 | 252 | 253 | 254 | SDA 255 | MODE 256 | GND 257 | SDA 258 | SCL 259 | GND 260 | 3V3 261 | GND 262 | G12 263 | SCL 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 5V 285 | 286 | 287 | 5V 288 | GND 289 | 290 | 291 | 292 | 293 | COOLING FAN 294 | REVERSE PSU 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | S 311 | G 312 | D 313 | 5V 314 | 315 | 316 | OUT 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | <b>EAGLE Design Rules</b> 330 | <p> 331 | Die Standard-Design-Rules sind so gewählt, dass sie für 332 | die meisten Anwendungen passen. Sollte ihre Platine 333 | besondere Anforderungen haben, treffen Sie die erforderlichen 334 | Einstellungen hier und speichern die Design Rules unter 335 | einem neuen Namen ab. 336 | <b>EAGLE Design Rules</b> 337 | <p> 338 | The default Design Rules have been set to cover 339 | a wide range of applications. Your particular design 340 | may have different requirements, so please make the 341 | necessary adjustments and save your customized 342 | design rules under a new name. 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 351 | 352 | 353 | 354 | 355 | 356 | 357 | 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | 367 | 368 | 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | 402 | 403 | 404 | 405 | 406 | 407 | 408 | 409 | 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 434 | 435 | 436 | 437 | 438 | 439 | 440 | 441 | 442 | 443 | 444 | 445 | 446 | 447 | 448 | 449 | 450 | 451 | 452 | 453 | 454 | 455 | 456 | 457 | 458 | 459 | 460 | 461 | 462 | 463 | 464 | 465 | 466 | 467 | 468 | 469 | 470 | 471 | 472 | 473 | 474 | 475 | 476 | 477 | 478 | 479 | 480 | 481 | 482 | 483 | 484 | 485 | 486 | 487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 496 | 497 | 498 | 499 | 500 | 501 | 502 | 503 | 504 | 505 | 506 | 507 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 515 | 516 | 517 | 518 | 519 | 520 | 521 | 522 | 523 | 524 | 525 | 526 | 527 | 528 | 529 | 530 | 531 | 532 | 533 | 534 | 535 | 536 | 537 | 538 | 539 | 540 | 541 | 542 | 543 | 544 | 545 | 546 | 547 | 548 | 549 | 550 | 551 | 552 | 553 | 554 | 555 | 556 | 557 | 558 | 559 | 560 | 561 | 562 | 563 | 564 | 565 | 566 | 567 | 568 | 569 | 570 | 571 | 572 | 573 | 574 | 575 | 576 | 577 | 578 | 579 | 580 | 581 | 582 | 583 | 584 | 585 | 586 | 587 | 588 | 589 | 590 | 591 | 592 | 593 | 594 | 595 | 596 | 597 | 598 | 599 | 600 | 601 | 602 | 603 | 604 | 605 | 606 | 607 | 608 | 609 | 610 | 611 | 612 | 613 | 614 | 615 | 616 | 617 | 618 | 619 | 620 | 621 | 622 | 623 | 624 | 625 | 626 | 627 | 628 | 629 | 630 | 631 | 632 | 633 | 634 | 635 | 636 | 637 | 638 | 639 | 640 | 641 | 642 | 643 | 644 | 645 | 646 | 647 | 648 | 649 | 650 | 651 | 652 | 653 | 654 | 655 | 656 | 657 | 658 | 659 | 660 | 661 | 662 | 663 | 664 | 665 | 666 | 667 | 668 | 669 | 670 | 671 | 672 | 673 | 674 | 675 | 676 | 677 | 678 | 679 | 680 | 681 | 682 | 683 | 684 | 685 | 686 | 687 | 688 | 689 | 690 | 691 | 692 | 693 | 694 | 695 | 696 | 697 | 698 | 699 | 700 | 701 | 702 | 703 | 704 | 705 | 706 | 707 | 708 | 709 | 710 | 711 | 712 | 713 | 714 | 715 | 716 | 717 | 718 | 719 | 720 | 721 | 722 | 723 | 724 | 725 | 726 | 727 | 728 | 729 | 730 | 731 | 732 | 733 | 734 | 735 | 736 | 737 | 738 | 739 | 740 | 741 | 742 | 743 | 744 | 745 | 746 | 747 | 748 | 749 | 750 | 751 | 752 | 753 | 754 | 755 | 756 | 757 | 758 | 759 | 760 | 761 | 762 | 763 | 764 | 765 | 766 | 767 | 768 | 769 | 770 | 771 | 772 | 773 | 774 | 775 | 776 | 777 | 778 | 779 | 780 | 781 | 782 | 783 | 784 | 785 | 786 | 787 | 788 | 789 | 790 | 791 | 792 | 793 | 794 | 795 | 796 | 797 | 798 | 799 | 800 | 801 | 802 | 803 | 804 | 805 | 806 | 807 | 808 | 809 | Since Version 6.2.2 text objects can contain more than one line, 810 | which will not be processed correctly with this version. 811 | 812 | 813 | 814 | -------------------------------------------------------------------------------- /Sweep_spec.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/Sweep_spec.pdf -------------------------------------------------------------------------------- /piDrones.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/piDrones.pdf -------------------------------------------------------------------------------- /pidrone: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | 3 | #################################################################################################### 4 | #################################################################################################### 5 | ## ## 6 | ## Hove's Raspberry Pi Python Quadcopter Flight Controller. Open Source @ GitHub ## 7 | ## PiStuffing/Quadcopter under GPL for non-commercial application. Any code derived from ## 8 | ## this should retain this copyright comment. ## 9 | ## ## 10 | ## Copyright 2012 - 2018 Andy Baker (Hove) - andy@pistuffing.co.uk ## 11 | ## ## 12 | #################################################################################################### 13 | #################################################################################################### 14 | 15 | sudo python -O ./qc.py 16 | -------------------------------------------------------------------------------- /qc.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | ############################################################################################### 4 | ############################################################################################### 5 | ## ## 6 | ## Hove's Raspberry Pi Python Quadcopter Flight Controller. Open Source @ GitHub ## 7 | ## PiStuffing/Quadcopter under GPL for non-commercial application. Any code derived from ## 8 | ## this should retain this copyright comment. ## 9 | ## ## 10 | ## Copyright 2014 - 2018 Andy Baker (Hove) - andy@pistuffing.co.uk ## 11 | ## ## 12 | ############################################################################################### 13 | ############################################################################################### 14 | 15 | from Quadcopter import Quadcopter 16 | import os 17 | 18 | os.nice(-10) 19 | 20 | if __name__ == '__main__': 21 | #------------------------------------------------------------------------------------- 22 | # Off we go! 23 | #------------------------------------------------------------------------------------- 24 | Quadcopter().go() 25 | -------------------------------------------------------------------------------- /smbus2.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PiStuffing/Quadcopter/fa3a2e7b0d37d54ff5acc32c6752d3a31834240e/smbus2.zip --------------------------------------------------------------------------------