Here it comes the Beta1 Software.
The preliminary test on the software has been completed.I validated the following functionalities:
- 4 motors management
- IMU, inential measurament unit Interface (MPU6050).
- Remote control (done using ssh and the laptop).I can modify roll and pitch target. Yaw is not for the moment part of this test session.I can start the Pid control for roll or for roll+pitch.
- PID for roll and pitch.
- Display with current info
- log file
- arg params ( -s = save log, -c = calibrate IMU)
I added a new module called quadricopter.py where I put all the necessary components already tested in the past. So i can access them for exemple by myQ.motor or myQ.sensor.roll etc.
I remember that the Imu and rc are now running in a parallel thread.
The main loop is now running every 10ms, but I have to investigate if this is stable and mainly if this is enough for the control of quadcopter.
A new display can show the current status of the drone, including roll, pitch and yaw , motors rate , throttle and the commands from the remote control (target values).
Now the main target for this test session is to tune the pid for balancing the structure ( remember that in this phase I placed a semi-sphere under the drone in order to verify the balancing without flying).