http://blog.oscarliang.net/remote-controlled-quadcopter-based-raspberry-pi/ ![]() The MPU6050 and special Motor controllers allows I2C communication protocol, there is no need for PWM signal.
With all the Parts, the whole quadcopter weights about 1 KG including battery. Quadcopter Software ProgrammingThe software was written in C++, and Marlon is so kind to share with everyonehere. The Software is mostly written by himself therefore most Parameters, e.g. PID, are not comparable to other quadcopters. The sensor sampling frequency is about 300 Hz to 500 Hz and the motors are controlled at 50 Hz. Most of the Software processing time is spent on waiting for sensor data due to the slowness of I2C. The actual computation takes barely no time even though everything is down in floating point numbers. |
Raspberry Pi >