-
Beaglebone Blue
- Configured using part 1 of guide from imfatant
- Installed librobotcontrol
-
Drone Kit
- Flight controller written in C
- librobotcontrol for hardware access
- Commanding interface written in JS using node (not yet implemented)
- 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
- 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
- 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
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