Project Overview

Hardware

• Beaglebone Blue

  • Configured using part 1 of guide from imfatant
  • Installed librobotcontrol

• Drone Kit

  • DJI Flamewheel F450

Software

• Flight controller written in C
• librobotcontrol for hardware access
• Commanding interface written in JS using node (not yet implemented)

Compilation

• Docker image / support script that handles all cross-compilation needs
  • Started with dockcross linux-armv7 toolchain as base
  • glib of dockcross image was newer than my board supported, so I extended the linux-armv7 image and installed an older cross-compiler
  • The resources/ directory of this repo provides an easy way to get access to the cross-compiler image

Work to go

Hardware

• Securly mount board on drone frame, current mounting solution may be causing elevated noise in sensors
• Acquire a dedicated battery to power board, or solder a new connection from the main battery
• Configure board to run flight controller on boot

Software

• Refine control algorithm.
  • Currently using single PID controller, may need to move to cascaded configuration.
  • PID input is using direct gyro/accel output. These likely need to be fused for better attitude estimation. Sensor fusion is implemented for altitude estimation, but may need refinement.
• Add support for setting configuration values via commanding interface (e.g. PID)
• Node.js commanding interface