BerryWing

A sandbox to build an autonomous drone in.

What I'm thinking:

I have this Raspberry Pi 2 Model B. It has a wifi USB dongle and a 64 GB micro SD card. I'm wondering...can I put this thing in the air? autonomously?

It's unclear whether the platform would be a quadcopter or a fixed-wing flier - to be determined.

Hardware:

I already have:

• Raspberry Pi 2 Model B v1.1
• 64GB micro SD card
• WIFI USB dongle

I've bought (edit - I wouldn't necessairly buy these things again):

• Breadboard, petentionometer switches, ultrasonic sensor, LCD screen, LEDs. (Manual)
• Accelerometer, Gyroscope, Magnetometer, Altitude, & Temperature Sensor (Manual)
• 4G card with GPS (Manual)

Sample code:

Servo that responds to ultrasonic sensor:

Make sure the following devices are connected to GPIO (e.g. with the breadboard and ribbon cable):

• Ultrasonic sensor:
  • Vcc: 5v (pin 02)
  • Trig: GPIO23 (pin 16)
  • Echo: GPIO24 (pin 18)
  • GND: ground
• Servo:
  • Data (yellow cable): GPIO18 (pin 12)
  • Vcc (red cable): 5v (pin 02)
  • Ground (brown cable)

Then run $ python helloworld_ultraservo.py

Getting temperature & pressure from the BerryIMUv2-10DOF:

• Wiring guide
• Enable i2c and confirm board is connected

$ sudo i2cdetect -y 1
     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- 1c -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- 6a -- -- -- -- --
70: -- -- -- -- -- -- -- 77

From there, download the sample scrips and run some:

$ git clone http://github.com/ozzmaker/BerryIMU.git
$ python ./BerryIMU/python-BMP280-temperature-pressure/bmp280.py

Temperature in Celsius : 23.60 C
Temperature in Fahrenheit : 74.48 F
Pressure : 947.90 hPa

$ python ./BerryIMU/python-BerryIMU-gryo-accel-compass/berryIMU-simple.py

Found LSM9DS1
Loop Time  0.00 # ACCX Angle 171.88 ACCY Angle 177.32 #  	# GRYX Angle -0.03  GYRY Angle -0.01  GYRZ Angle -0.00 # 	# CFangleX Angle 103.12   CFangleY Angle 106.39 #	# HEADING 322.07  tiltCompensatedHeading 307.77 #
Loop Time  0.03 # ACCX Angle 172.03 ACCY Angle 177.32 #  	# GRYX Angle -4.82  GYRY Angle -2.02  GYRZ Angle -0.67 # 	# CFangleX Angle 171.83   CFangleY Angle 177.24 #	# HEADING 324.22  tiltCompensatedHeading 310.00 #
Loop Time  0.03 # ACCX Angle 171.97 ACCY Angle 177.39 #  	# GRYX Angle -5.38  GYRY Angle -2.25  GYRZ Angle -0.69 # 	# CFangleX Angle 171.78   CFangleY Angle 177.31 #	# HEADING 324.67  tiltCompensatedHeading 309.89 #
...

If you're having problems with the board responding (e.g. IOError: [Errno 121] Remote I/O error) wedge a watch strap under it.

Graceful shutdown with a push-button switch:

There's no power switch on the raspberry pi (a pet peeve of mine). Kids are always unplugging things, and I hate it when my Pi is unplugged while running!

It's easy to set up a "shutdown" switch (though you'll still have to power-cycle to start the pi):

Wire the small black momentary push button switch between GPIO21 & GND on the Raspberry Pi. Then:

apt-get install python3, python3-pip
pip3 install gpiozero
chmod a+x ~/berrywing/helloworld/shutdown-press.py
sudo nano /etc/rc.local

and add this line before exit 0 at the end of rc.local:

sudo -H -u pi /usr/bin/python3 /home/pi/berrywing/helloworld/shutdown-press.py &

More details here.