The Story
We started with the idea of creating a quadcopter that could be used for educational purposes — a platform with interfaces and software easily accessible and customizable by users who want to try out their own control laws and algorithms. The Raspberry Pi was an ideal choice.
Robotics-in-Flight LLC
We built two critical components — an electronics assembly (called R-PiLoT) and flight control software (Python PilotTM).
On the Raspberry Pi the functions needed for controlled flight are realized – guidance, navigation, control, sensor processing, motor commands, and the pilot interface. The Pi is running Linux; the flight controller is Python. This code is open source and available online. Users have access to the interfaces to all functions contained in the code, as well as the hardware interfaces on the Raspberry Pi and to the Linux OS.
R-PiLoT Electronics Assembly
Hardware components and interconnects in the flight control electronics are shown at left.
The interfaces to connect the Radio Receiver, the GPS, and the optical flow sensor are all readily accessible. PWM motor control signals for 4 to 8 motors and ESCs are present.
