Raspberry PI as the ultimate navigation computer

copterrichie · Post by **copterrichie** » Fri Apr 26, 2013 5:36 pm

Super I/O + Raspberry PI as the ultimate navigation computer?

http://diydrones.com/profiles/blogs/sup ... n-computer

Move over Arduino, here comes the Raspberries.

Gimbal · Post by **Gimbal** » Fri Apr 26, 2013 6:49 pm

Interesting, delivery in September, well then i have some time to get familiar with my raspberry.

Sebbi · Post by **Sebbi** » Sun Apr 28, 2013 8:10 pm

Isn't this basically just a Naze32 board that sticks on the GPIO connector of the RasPi? You could do that right now. I mean ... $175 for something you can already buy for around $50? ... strange project.

copterrichie · Post by **copterrichie** » Sun Apr 28, 2013 10:50 pm

In the comment segment, there are posts of cheaper alternatives to this. What is important to me is, there is an active discussion on the issue and I await what develops.

copterrichie · Post by **copterrichie** » Tue May 14, 2013 2:11 pm

Raspberry Pi Camera Module has arrived!

he Raspberry Pi Camera Module is a custom designed add-on for Raspberry Pi.
It attaches by way of one of the small sockets on the board's upper surface, and uses the dedicated CSi interface, designed especially for connecting to cameras. The board itself is tiny, at around 25mm x 20mm x 9mm. It features:

http://click.e-marketing.premierfarnell ... 80573daf0f

NikTheGreek · Post by **NikTheGreek** » Wed May 15, 2013 8:30 pm

Broken link

NikTheGreek · Post by **NikTheGreek** » Thu May 16, 2013 8:03 pm

http://www.raspberrypi.org/archives/tag/camera-board

copterrichie · Post by **copterrichie** » Thu May 16, 2013 8:11 pm

Awesome, thanks Nik.

Sebbi · Post by **Sebbi** » Sun May 19, 2013 11:46 am

Indeed, awesome! ;-)

Now we can have simple PI FPV solutions ;-)

copterrichie · Post by **copterrichie** » Mon May 20, 2013 7:16 pm

The Raspberry PI Camera has now made its appearance on Ebay, will not be long now before I have one of these puppies for experimentation.

Raspberry Pi Camera Module Board - Newly Released!!

http://www.ebay.com/itm/Raspberry-Pi-Ca ... 1229608256

copterrichie · Post by **copterrichie** » Wed May 22, 2013 2:11 pm

I made the purchase directly from element14 however with the addition of the NEW Internet tax and shipping was added, the prices was about the same as purchased from ebay. :evil:

http://click.e-marketing.premierfarnell ... 397c289c4a

Sebbi · Post by **Sebbi** » Wed May 22, 2013 3:44 pm

Purchased from Ebay for around 37 € including shipping. Lets see what this camera can do ... someone should then port MultiWii to run on a RasPi

Gimbal · Post by **Gimbal** » Wed May 22, 2013 3:49 pm

Got one, now we just waiting for a radio link with nuf bandwidth

NikTheGreek · Post by **NikTheGreek** » Sat May 25, 2013 6:58 pm

More infos Here http://www.diydrones.com/profiles/blogs/how-to-connect-3dr-gps-ublox-to-raspberry-pi

copterrichie · Post by **copterrichie** » Sat May 25, 2013 7:24 pm

Awesome Nik, question: have you seen a modification to replacing the SD card with a Flash RAM device? Seem the SD card maybe the weak link if the Raspberry PI grows some wings so to speak.

copterrichie · Post by **copterrichie** » Sat May 25, 2013 8:18 pm

If this board had sensors, it would be perfect.

MiniLab - RASPBERRY Pi Development / Experimental Board ( ARDUINO )

http://www.ebay.com/itm/MiniLab-RASPBERRY-Pi-Development-Experimental-Board-ARDUINO-/330929490516

NikTheGreek · Post by **NikTheGreek** » Sun May 26, 2013 11:01 am

copterrichie wrote:have you seen a modification to replacing the SD card with a Flash RAM device?

Nop

NikTheGreek · Post by **NikTheGreek** » Thu May 30, 2013 11:22 pm

is getting better and better

http://rlab.org.uk/wiki/Remove_IR_filter_from_Raspberry_Pi_Camera

copterrichie · Post by **copterrichie** » Thu May 30, 2013 11:35 pm

NikTheGreek wrote:is getting better and better

http://rlab.org.uk/wiki/Remove_IR_filter_from_Raspberry_Pi_Camera

Awesome Nik, I just received my order today. Not going to attempt this modification to this but at 33 bucks shipped, I am sure I will be attempting this in the future.

copterrichie · Post by **copterrichie** » Thu Jun 13, 2013 6:55 pm

One step closer, one step for humankind.

copterrichie · Post by **copterrichie** » Tue Jun 18, 2013 12:40 pm

Here is the VERY FIRST comparison of the Raspberry PI camera usage on a copter. Not very good but a good foundation.

If you would like to follow the thread: http://www.raspberrypi.org/phpBB3/viewt ... 43&t=44441

NikTheGreek · Post by **NikTheGreek** » Tue Jun 18, 2013 10:04 pm

Thank you Richie

copterrichie · Post by **copterrichie** » Thu Jun 20, 2013 3:13 pm

Now things are starting to get very INTERESTING!!!

http://forums.openpilot.org/topic/13087 ... pberry-pi/

NikTheGreek · Post by **NikTheGreek** » Fri Jun 21, 2013 11:37 pm

http://www.diydrones.com/profiles/blogs/open-source-computer-vision-module-developed-for-mavproxy

:shock:

copterrichie · Post by **copterrichie** » Fri Jun 21, 2013 11:55 pm

is right!! Add this to the mix

Raspberry Pi Camera OpenCV Face Detection

http://www.raspberrypi.org/phpBB3/viewt ... 43&t=44982

copterrichie · Post by **copterrichie** » Mon Jun 24, 2013 1:56 am

Adafruit 16-Channel 12-bit PWM/Servo Driver - I2C interface - PCA9685

http://www.adafruit.com/products/815

copterrichie · Post by **copterrichie** » Mon Jun 24, 2013 2:10 am

What I am considering at this stage is, to connect the sensors to the SPI bus and use the I2C bus for Servos/ESCs Not going to be easy but it should be fun and a challenge.

http://www.raspberrypi.org/phpBB3/viewt ... =37&t=9007

NikTheGreek · Post by **NikTheGreek** » Tue Jul 09, 2013 3:30 pm

And....this...
http://www.diydrones.com/profiles/blogs ... h-rpi-gpio

Not bad....

one more piece of the puzzle

copterrichie · Post by **copterrichie** » Tue Jul 09, 2013 3:36 pm

Thanks for sharing that link. Yeap, agreed, one more step for mankind.

copterrichie · Post by **copterrichie** » Tue Jul 09, 2013 9:23 pm

More communication on using a PI as a flight control on a quad: http://www.raspberrypi.org/phpBB3/viewt ... 56&start=0

copterrichie · Post by **copterrichie** » Wed Jul 10, 2013 1:27 pm

I have been very reluctant to do any serious experimentation with the one and only PI presently owned however, I ordered a second board today. Lets the games begins.

NikTheGreek · Post by **NikTheGreek** » Wed Jul 10, 2013 1:35 pm

Great!!!

I assume one in GS and second in the vehicle ?

copterrichie · Post by **copterrichie** » Wed Jul 10, 2013 1:38 pm

NikTheGreek wrote:Great!!!

I assume one in GS and second in the vehicle ?

Yes but to start, as a backup in the event I burn the GPIOs.

My approach to this is to use the well grounded MWC for the flight stabilization and the PI in the support role. First item on the agenda is to port over i2c-gps-nav.

copterrichie · Post by **copterrichie** » Fri Jul 12, 2013 11:58 pm

Serveball develops throwable camera systems for a unique look on life

http://www.element14.com/community/comm ... BALL-GPLUS

NikTheGreek · Post by **NikTheGreek** » Sat Jul 13, 2013 10:27 am

I can imagine several uses of this ......

copterrichie · Post by **copterrichie** » Sat Jul 13, 2013 8:09 pm

Projet PiX (Drone, Quadricopter)

http://www.raspberrypi.org/phpBB3/viewt ... 00&start=0

copterrichie · Post by **copterrichie** » Wed Jul 17, 2013 1:22 pm

MPU6050 demo code

http://www.raspberrypi.org/phpBB3/viewt ... ab455c2550

NikTheGreek · Post by **NikTheGreek** » Fri Jul 19, 2013 12:10 am

And..one more piece of the puzzle

http://theiopage.blogspot.gr/2013/04/en ... -with.html

copterrichie · Post by **copterrichie** » Fri Jul 19, 2013 8:18 pm

Here is a great conversation about replacing the Raspberry PI Camera default lens with a M12 Type. I just happened to have an old board with the adapter and the mounting holes lines up perfectly.

http://www.raspberrypi.org/phpBB3/viewt ... 43&t=45887

NikTheGreek · Post by **NikTheGreek** » Sun Jul 21, 2013 8:52 am

http://www.diydrones.com/profiles/blogs ... r-with-rpi

copterrichie · Post by **copterrichie** » Mon Jul 22, 2013 9:36 am

pigpio

pigpio is a C library for the Raspberry Pi which allows control of the general purpose input outputs (gpios).

There are 54 gpios in total, arranged in two banks. Bank 1 contains gpios 0-31. Bank 2 contains gpios 32-54. Most of the gpios are dedicated to system use. All the ones the user should use are in bank 1.

http://abyz.co.uk/rpi/pigpio/

copterrichie · Post by **copterrichie** » Fri Aug 23, 2013 12:03 pm

Autonomous, Cardboard, Rasberry Pi Controlled QuadCopter

http://www.instructables.com/id/Autonom ... /?ALLSTEPS

NikTheGreek · Post by **NikTheGreek** » Fri Aug 23, 2013 4:10 pm

WoW... Impresive !!!

copterrichie · Post by **copterrichie** » Fri Jan 03, 2014 3:56 pm

Well, I finally got around to building the shield for the Raspberry Pi. The Arduino ATmeg328/16 running a stripped down version MultiWii2.2/2.3 will handle Low level flight stabilization. Navigation, Camera, Ground Communication handled by the Raspberry PI. The GPS unit, Mag and Baro will be connected to the Pi. Communication between the Pi and MWC will be handled via serial using the MSP_SET commands but later switched to PWM.

Note: Nik, I figured it would be much easier conversing here verse email regardless.

Richard

copterrichie · Post by **copterrichie** » Fri Jan 10, 2014 11:35 pm

How to upgrade Debian Linux64bit to Oracle Java required for a smooth running java application.

1. apt-get update
2. sudo apt-get disp-upgrade
3. Add the following to the /etc/apt/sources.list
deb http://ftp.de.debian.org/debian wheezy main contrib (For Debian only)

4. sudo apt-get update
5. sudo apt-get install java-package
6. Downlaod Oracle Java from: http://www.oracle.com/technetwork/java/ ... index.html

7. Select the jdk-7u45-linux-x64.tar.gz and agree to terms

8. open a terminal windows and change to the location where the file resides

9. Type: make-jpkg jdk-7u45-linux-x64.tar.gz <enter>

10. Once the program has finished running, there should be the following file: oracle-j2sdk1.7_1.7.0+update45_amd64.deb

11. sudo dpkg -i oracle-j2sdk1.7_1.7.0+update45_amd64.deb

12. sudo update-alternatives --config java and select Oracle-Java as the default java.

13. Verify Oracle Java is the default: java -version

java version "1.7.0_45"
Java(TM) SE Runtime Environment (build 1.7.0_45-b18)
Java HotSpot(TM) 64-Bit Server VM (build 24.45-b08, mixed mode)

copterrichie · Post by **copterrichie** » Thu Jan 16, 2014 5:56 pm

I received the Clone Raspberry Pi cameras and now, I have to make a decision to which one to use for the onboard camera System. However, I will build a quick change board to allow for easy access for changing out the camera board as required. The Arduino is now talking to the Raspberry Pi via the serial ports and I can not connect to the Pi via the Ethernet. Wifi is in the pipeline but I do not see any major problems with the implementation.

Here is a screen shot of the modified MultilConf 2.3 to handle Joystick inputs and to run efficiently on Embedded Linux. I felt there was no need for the graph and it required too much resources such as CPU time and memory.

copterrichie · Post by **copterrichie** » Sun Jan 19, 2014 4:09 pm

Ok, so now the Raspberry WiiCopter(given name as of today) is really for the next stage of development. I will install this assembly on to my ORIGINAL Sweptback/V-tail copter because she has been a very stable platform. The GUI is far from being in its final state shown in the video. During testing I will feed the live video stream to a separate computer/laptop and the Telemetry to a another. I will use a standard transmitter and feed a PPM-Sum signal to the flight control in the early stage of testing, then use Serial MSP-SET commands relayed via the Raspberry over Wifi.

The video stream during this test was set to 720x480 @ 30fps

NikTheGreek · Post by **NikTheGreek** » Sun Jan 19, 2014 5:48 pm

Great work Richard...

copterrichie · Post by **copterrichie** » Mon Jan 20, 2014 4:19 pm

The following is a very quick hack to automatically start the video stream upon connection from a client. It uses socat which can be added to the Raspiberry Pi with the command sudo apt-get install socat.

Code: Select all

#Spawn a getty on Raspberry Pi serial line
#T0:23:respawn:/sbin/getty -L ttyAMA0 115200 vt100
T0:23:respawn:/usr/bin/socat TCP-LISTEN:8899,reuseaddr /dev/ttyAMA0,raw,echo=0,crnl,b115200
T1:23:respawn:/usr/bin/raspivid -n -t 0 -h 480 -w 720 -fps 30 -vf -o - | socat - TCP-LISTEN:5001,reuseaddr

copterrichie · Post by **copterrichie** » Tue Jan 21, 2014 12:42 am

Houston, we have a mounting location.