So now ,after some additional tests, here I added the software code: alfa3
All the basic components necessary to build a quadcipter sw are now implemented.
This is list of the modules developed:
Any of those modules includes a specific object.I’ll plan some time to review the python page with a detailed help for each module.
Here I want just to summarise the main aspects.
rc is the new entry in this alfa3test session.it is an object that works in parallel thread.It is just waiting for input from user. In this particular case the input is coming from the keyboard,but the same approach it is possible (I’ m working on it and a tutorial is close to be ready) to get input from a webserver running on rpi.
Motor is an object that manages the motor speed trou ESC. It uses the RPIO library to generate the PWM.
Sensor is an object that works in a parallel thread. Every around 6ms it can update the info from the gyroscope and the accelerometer ,quadcopter inclination and rotational speed.
MPU6050 is a pure interface between raspberry and sensor hardware. If you want to use a different sensor it is just needed to build this specific class.
Pid is the object that includes the calculatio for the proportional , integral and derivative control.