DRONE quadcopter on a raspberry-pi

https://vimeo.com/219726521

PREPARATION Raspberry Pi 2

Install RASPBIAN JESSIE Kernel version : 4.4 on the Raspberry Pi 2

Clone this git with this specific command ( without sudo !!)

	pi@raspberry ~$ git clone REPO_URL ~/drone

Active SSH and I2C , Install RTIMULib2 inside Lib folder ( follow the Readme instructions of RTIMULib2)

Patch the Raspberry witch the kernel_4.4.47_RT.tgz :

	pi@raspberry ~$ tar xzf kernel_4.4.47_RT.tgz
	pi@raspberry ~$ sudo rm -r /lib/firmware/
	pi@raspberry ~$ sudo rm -r /boot/overlays/
	pi@raspberry ~$ cd boot
	pi@raspberry ~$ sudo cp -rd * /boot/
	pi@raspberry ~$ cd ../lib
	pi@raspberry ~$ sudo cp -dr * /lib/

Disable USB RT PREEMPT LIMITATION -> pi@raspberry ~$ sudo nano /boot/cmdline.txt

	add those lines : 

	dwc_otg.fiq_enable=0
	dwc_otg.fiq_fsm_enable=0

Disable Garde-fou -> pi@raspberry ~$ sudo nano .profile

	add this line

	sudo sysctl kernel.sched_rt_runtime_us=-1

Frequence I2C -> pi@raspberry ~$ sudo nano /etc/modprobe.d/i2c.conf
	
	add this line

	options i2c_bcm2708 baudrate=400000

Edit the boot file of raspberrypi ->  pi@raspberry ~$ sudo nano /etc/rc.local
	
	add this line at the end

	sh /home/pi/drone/startScript.sh &

Edit the config file of raspberrypi -> pi@raspberry ~$ sudo nano /boot/config.txt

	Make sure it contains the settings of the file present in the git

Compilation

CLIENT/CONTROLLER

dependencies : SDL (for XBOX360 and similar Controller) libsdl1.2-dev

make client

XBOX360 controller calibration -> jstest-gtk https://apps.ubuntu.com/cat/applications/jstest-gtk/ Emulate controller XBOX360 from DualShocks active bluetooth bouton playstation + share -> Flashing light "ds4drv --emulate-xboxdrv"

DRONE

make drone

Execution

for the Drone on the Raspberry Pi 2 :

sudo ./droneMain --help

for the Client/Controller :

./client 192.168.***.***

For calibration

Testing vibrations

sudo ./droneMain --verb --testpower --data --vibration