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

The flight control electronics consists of a Raspberry Pi 3A+ integrated with a Radio Controller receiver, GPS, two IMUs (one external and on on Nano 33), magnetometer, baro-altimeter, and optical flow sensor.

PWM motor control signals for from 4 to 8 motors.

Optical Flow and IMU Fusion for Drone Velocity Control

GPS-Denied Navigation

A FPV Demo with the PiQuad Drone

PiQuad Description

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