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QUADCOPTER

A new version of the Quadcopter is available at: https://github.com/vjaunet/QUADCOPTER_V3

A quadcopter controller on a Raspberry PI

This project is the development of a code to control a quadcopter with a Raspberry Pi.

Following the Quadcopter V1, I want to use a 4 cahnnel RC remote to have better control on the drone. In fact, the tablet shows quite poor sensitivity that is an handicap for good quality fligths.

Therefore in theis version of the Quadcopter, the RPI will still hold the PID, but a micorcontroller is used to interface the RC receiver and the ESCs. The Rpi aks the microcontroller for RC commands and sends motor speed values through I2C. An Arduino Micro has been chosen as microcontroller, for its compact size and sufficient abilites for the job.

The Raspberry PI hosts:

This project is greatly inspired and using source code from :

Many thanks to these people.

Documentation

Principles Princples Diagram

Usage

When powered, the Quad is in a locked status so that the ESCs do not turn the motor on. To unlock, simply put the RC sticks to the lower center angle. It can be locked again by doing the same operation. This is handled by the Arduino for more safety.

Hardware

This projects includes :

Wiring

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

Arduino -> RPI : -VCC -> 5V from external Regulator -GND -> GND -MISO -> Logic Level converter ->MISO -MOSI -> Logic Level converter ->MOSI -SCK -> Logic Level converter ->SCK

ESCs and RC Receiver on Arduino: -Using PinChange interrupts -Check in the arduino code

Pictures

Picture of the quad Picture of the quad Picture of the quad Picture of the quad Picture of the quad