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README
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README
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This simple c library provides support for imu and servo motor control using
a raspberry pi, but any linux system with inertial sensors on an i2c bus should work.
Possible applications include:
1. sailboat autopilot
2. automatic compensated directional antenna from moving platform
3. solar tracking on moving platform
etc...
librpi_imu
configures the inertial sensors via i2c
making the data available via library calls.
various automatic calibration algorithms as well as sensor fusion
(gradient decent) are performed.
~/.rpi_autopilot/imu_config
configures the imu and stores calibration coefficients for sensors
as well as alignment to vessel.
librpi_servo
driving servos (position mode) or electric speed controllers (speed mode) with
current feedback to detect stalling and stops.
~/.rpi_autopilot/servo_config
Servos can be connected either via usb (arduino) or eventually
via spi (with avr as spi slave)
capabilities are determined via servo protocol, and include:
number of pwm outputs
current/voltage sense
etc..