├── Drone.py ├── LICENSE ├── README.md ├── images ├── 1.jpg └── 2.jpg └── test.py /Drone.py: -------------------------------------------------------------------------------- 1 | import os 2 | import time 3 | os.system("sudo pigpiod") 4 | time.sleep(1) 5 | import pigpio 6 | import getch 7 | 8 | 9 | class Drone: 10 | def __init__(self): 11 | # Pin Setup 12 | self.thr = 26 13 | self.ail = 27 14 | self.ele = 22 15 | self.rudd = 21 16 | 17 | # Max Min Value 18 | self.thr_max = 2300 19 | self.thr_min = 1100 20 | self.rudd_max = 1900 21 | self.rudd_mid = 1500 22 | self.rudd_min = 1100 23 | self.ail_max = 1900 24 | self.ail_mid = 1500 25 | self.ail_min = 1100 26 | self.ele_max = 1900 27 | self.ele_mid = 1500 28 | self.ele_min = 1100 29 | 30 | ### Initial Value 31 | self.thr_value = 1100 32 | self.rudd_value = 1500 33 | self.ail_value = 1500 34 | self.ele_value = 1500 35 | self.pi = pigpio.pi() 36 | self.pi.set_servo_pulsewidth(self.thr, self.thr_value) 37 | self.pi.set_servo_pulsewidth(self.rudd, self.rudd_value) 38 | self.pi.set_servo_pulsewidth(self.ail, self.ail_value) 39 | self.pi.set_servo_pulsewidth(self.ele, self.ele_value) 40 | 41 | def calibrate(self): # This is the auto calibration procedure of a normal ESC 42 | self.pi.set_servo_pulsewidth(self.thr, self.thr_min) 43 | print("Disconnect the battery and press Enter") 44 | inp = input() 45 | if inp == '': 46 | self.pi.set_servo_pulsewidth(self.thr, self.thr_max) 47 | print("Connect the battery NOW.. you will here two beeps, then wait for a gradual falling tone then press Enter") 48 | inp = input() 49 | if inp == '': 50 | self.pi.set_servo_pulsewidth(self.thr, self.thr_min) 51 | print("Wierd eh! Special tone") 52 | time.sleep(2) 53 | print("Wait for it ....") 54 | time.sleep(2) 55 | print("Im working on it, DONT WORRY JUST WAIT.....") 56 | print("Done") 57 | 58 | def control(self, inp): 59 | # Throttel Setup 60 | if inp == "w": 61 | self.thr_value += 10 62 | self.pi.set_servo_pulsewidth(self.thr, self.thr_value) # incrementing the speed like hell 63 | if self.thr_value >= self.thr_max: 64 | self.thr_value = self.thr_max 65 | print("th speed = %d" % self.thr_value) 66 | 67 | elif inp == "s": 68 | self.thr_value -= 10 69 | self.pi.set_servo_pulsewidth(self.thr, self.thr_value) 70 | if self.thr_value <= self.thr_min: 71 | self.thr_value = self.thr_min 72 | print("th speed = %d" % self.thr_value) 73 | 74 | # Rudder Setup 75 | elif inp == 'e': 76 | self.rudd_value += 10 77 | self.pi.set_servo_pulsewidth(self.rudd, self.rudd_value) 78 | print("Rudd_speed = %d" % self.rudd_value) 79 | if self.rudd_value >= self.rudd_max: 80 | self.rudd_value = self.rudd_max 81 | elif inp == 'q': 82 | self.rudd_value -= 10 83 | print("Rudd_speed = %d" % self.rudd_value) 84 | self.pi.set_servo_pulsewidth(self.rudd, self.rudd_value) 85 | if self.rudd_value <= self.rudd_min: 86 | self.rudd_value = self.rudd_min 87 | 88 | # Ailereon Setup (Left And Right) 89 | elif inp == 'a': 90 | self.ail_value -= 10 91 | self.pi.set_servo_pulsewidth(self.ail, self.ail_value) 92 | print("Ail_speed = %d" % self.ail_value) 93 | if self.ail_value <= self.ail_min: 94 | self.ail_value = self.ail_min 95 | elif inp == 'd': 96 | self.ail_value += 10 97 | print("Ail_speed = %d" % self.ail_value) 98 | self.pi.set_servo_pulsewidth(self.ail, self.ail_value) 99 | if self.ail_value >= self.ail_max: 100 | self.ail_value = self.ail_max 101 | 102 | # Ele Setup (Front and Back) 103 | elif inp == 'r': 104 | self.ele_value += 10 105 | self.pi.set_servo_pulsewidth(self.ele, self.ele_value) 106 | print("Ele_speed = %d" % self.ele_value) 107 | if self.ele_value >= self.ele_max: 108 | self.ele_value = self.ele_max 109 | elif inp == 'f': 110 | self.ele_value -= 10 111 | print("Ele_speed = %d" % self.ele_value) 112 | self.pi.set_servo_pulsewidth(self.ele, self.ele_value) 113 | if self.ele_value <= self.ele_min: 114 | self.ele_value = self.ele_min 115 | 116 | # Arm Drone 117 | elif inp == "z": 118 | print("Drone Arm") 119 | self.pi.set_servo_pulsewidth(self.rudd, 1300) 120 | time.sleep(2) 121 | print("Drone Arm") 122 | self.pi.set_servo_pulsewidth(self.rudd, 1500) 123 | 124 | # Disarm Drone 125 | elif inp == "x": 126 | print("Drone Disarm") 127 | self.pi.set_servo_pulsewidth(self.rudd, 1720) 128 | time.sleep(2) 129 | self.pi.set_servo_pulsewidth(self.rudd, 1500) 130 | print("Drone Disarm") 131 | 132 | # Stop 133 | elif inp == 'c': 134 | print("Stop") 135 | self.thr_value = self.thr_min 136 | self.rudd_value = self.rudd_mid 137 | self.ail_value = self.ail_mid 138 | self.ele_value = self.ele_mid 139 | self.pi.set_servo_pulsewidth(self.thr, self.thr_value) 140 | self.pi.set_servo_pulsewidth(self.rudd, self.rudd_value) 141 | self.pi.set_servo_pulsewidth(self.ail, self.ail_value) 142 | self.pi.set_servo_pulsewidth(self.ele, self.ele_value) 143 | 144 | # Safe mode 145 | elif inp == 'v': 146 | print("Safe Mode") 147 | self.pi.set_servo_pulsewidth(self.rudd, 1720) 148 | self.pi.set_servo_pulsewidth(self.ail, 1900) 149 | time.sleep(2) 150 | self.pi.set_servo_pulsewidth(self.ail, 1500) 151 | self.pi.set_servo_pulsewidth(self.rudd, 1500) 152 | print("Safe Mode") 153 | 154 | # Landing Drone 155 | elif inp == "l": 156 | print("Landing") 157 | self.rudd_value = self.rudd_mid 158 | self.ail_value = self.ail_mid 159 | self.ele_value = self.ele_mid 160 | self.pi.set_servo_pulsewidth(self.rudd, self.rudd_value) 161 | self.pi.set_servo_pulsewidth(self.ail, self.ail_value) 162 | self.pi.set_servo_pulsewidth(self.ele, self.ele_value) 163 | value = self.thr_value - self.thr_min 164 | for i in range (value, 0, -10): 165 | i = i + self.thr_min 166 | self.pi.set_servo_pulsewidth(self.thr, i) 167 | time.sleep(.2) 168 | self.thr_value = self.thr_min 169 | print("Landing done") 170 | 171 | else: 172 | self.pi.stop() 173 | exit() 174 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2019 Somesh Sunariwal 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Flight-Controller-KK-2.1.5-Using-Raspberry-pi-3 2 | 3 | This is a repository about how you can Controll KK 2.1.5 flght Controller by using the Rapsberry pi 3. 4 | ![](images/2.jpg) 5 | 6 | # Raspberry pi3 7 | 8 | Raspberry pi pin no. [21, 22, 26, 27] work as a pulse width mudulation so you can use this pins to give signal to the flight controller. 9 | In this type of controlling your raspberry pi generate a signal which is similer to the Radio Transmitter and feed the signal to the Flight Controller which is similer to the reciver. 10 | 11 | ### required packages 12 | 1. getch 13 | 2. pigpio (most of the time this package already available in raspberry pi) 14 | 15 | # Flight Controller 16 | ![](images/1.jpg) 17 | 18 | Basically Flight Controller work on the PWM signal which is feed by the raspberry pi 3. 19 | set the pins according to your configuration and connect them to the Flight Controller 20 | ### ALE == 27 21 | ### ELE == 22 22 | ### THR == 26 23 | ### RUD == 21 24 | -------------------------------------------------------------------------------- /images/1.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SomeshSunariwal/Flight_Controller_KK_2.1.5_Using_Raspberry_pi3/92b15bd47b7315acd1255055671fe5e59b3363ca/images/1.jpg -------------------------------------------------------------------------------- /images/2.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/SomeshSunariwal/Flight_Controller_KK_2.1.5_Using_Raspberry_pi3/92b15bd47b7315acd1255055671fe5e59b3363ca/images/2.jpg -------------------------------------------------------------------------------- /test.py: -------------------------------------------------------------------------------- 1 | from Drone import Drone 2 | import getch 3 | 4 | drone = Drone() 5 | dorne.calibrate() 6 | while 1: 7 | drone.control(str(getch.getch())) 8 | --------------------------------------------------------------------------------