Note: This code is still in its initial stages of development and few features are implemented yet. A C based driver application for controlling a Y-quadcopter (see this blog for more details on the hardware design). It is currently designed to run on the Raspberry Pi. The target functionality of this code is as follows:
- Send variable throttle PWM signals to 4 motor ESCs
- Read orientation information from a 9DOF IMU
- Linear translation calculations based on orientation and acceleration data
- PID controller for achieving target rotations and translations
- Path following
- UDP server for sending/receiving data/commands from arbitrary controllers
Compile using "make" Run from "bin/rcopter" on the Raspberry Pi