RTPiDrone

Real-Time Raspberry Pi Drone (RTPiDrone)

Requirement

Operating System

Linux Preempt_RT or Xenomai

Hardware

• GY80 (or ST Microelectronics L3G4200D + Analog Devices ADXL345 + Honeywell MC5883L + Bosch BMP085) http://selfbuilt.net/shop/gy-80-inertial-management-unit

• MS5611 (optional, to have better precision of attitude) http://www.te.com/usa-en/product-CAT-BLPS0036.html

• PCA9685PW (to adjust the power of motor) https://www.adafruit.com/product/815

• MCP3008 (to get the voltage value of battery(single cell) ) https://www.adafruit.com/product/856

• nRF24L01+ * 2 (for the communication between the controller and drone) https://www.nordicsemi.com/eng/Products/2.4GHz-RF/nRF24L01P

• Arduino (to be the controller)

• Raspberry pi (RPi) model B+ or RPi2/3 model B

Software

• bcm2835 : C library for Broadcom BCM 2835 as used in Raspberry Pi http://www.airspayce.com/mikem/bcm2835/

• GSL - GNU Scientific Library https://www.gnu.org/software/gsl/

• cmake

• Doxygen

Installation

• Download the source code
• cd RTPiDrone
• mkdir build
• cd build
• cmake ..
• make doc (optional, for generating document)
• make (make sure you already install necessary libraries)
• The excutable file will be in ./src/RTPiDrone