MultiWii

Code: Select all

## as root ##
root@multi-pi:~# apt-get install joystick
root@multi-pi:~# wget http://github.com/richardghirst/PiBits/archive/master.zip && unzip master.zip && cd PiBits-master/ServoBlaster/user/ && make install

Code: Select all

root@multi-pi:~# nano quad.py

Code: Select all

#!/usr/bin/python
#Python cares about whitespace so don't jiggle anything around unless I've broken it here
#94% of the code here was written by my friend Jnet, I just kept poking him with a stick until it worked :D
#and then I changed all the names and added the comments so hopefully anyone can understand how it works

import pygame                                                             #This is the library for joystick inputs
import numpy                                                              #This is the library that does range mapping (convert a number from one range into another)

pygame.init()
pygame.joystick.init()

#Open Game Pad
gamepad = [pygame.joystick.Joystick(x) for x in range(pygame.joystick.get_count())]
gamepad[0].init()

done = False
while done == False:
        for event in pygame.event.get():
                if event.type == pygame.JOYAXISMOTION:
                        if event.axis == 0:                                  #Event.axis == 0 refers to the first joysticks left-right movement
                                sblast = open('/dev/servoblaster', 'w')                                  #This opens the "radio" ready to send a signal
                                roll = numpy.interp(event.value,[-1,1],[100,200])                #This converts the left sticks left to right position to a "radio" value
                                print("Roll Postion =", roll)                                                  #This isn't necessary but is useful for debugging, if you have a screen
                                sblast.write("1=" + str(int(roll)) + '\n')                                  # "1=" refers to servoblasters 2nd output on pin11 of the raspberry GPIO
                                sblast.close()                                                                      #This actually transmits it, don't ask me why but it only tx's on close
                        if event.axis == 1:                                   #Event.axis == 1 refers to the first joysticks up-down movement
                                sblast = open('/dev/servoblaster', 'w')
                                pitch = numpy.interp(event.value,[-1,1],[100,200])
                                print("Pitch Postion =", pitch)
                                sblast.write("2=" + str(int(pitch)) + '\n')                                # "2=" refers to servoblasters 3rd output on pin12 of the raspberry GPIO
                                sblast.close()
                        if event.axis == 2:                                    #Event.axis == 2 refers to the 2nd joysticks left-right movement
                                sblast = open('/dev/servoblaster', 'w')
                                yaw = numpy.interp(event.value,[-1,1],[101,199])
                                print("Yaw Postion =", yaw)
                                sblast.write("3=" + str(int(yaw)) + '\n')                                  # "3=" refers to servoblasters 4th output on pin13 of the raspberry GPIO
                                sblast.close()
                        if event.axis == 3:                                    #Event.axis == 3 refers to the 2nd joysticks up-down movement
                                sblast = open('/dev/servoblaster', 'w')
                                throttle = numpy.interp(event.value,[-1,1],[90,180])
                                print("Throttle Postion =", throttle)
                                sblast.write("0=" + str(int(throttle)) + '\n')                            # "0=" refers to servoblasters 1st output on pin7 of the raspberry GPIO
                                sblast.close()
                if event.type == pygame.JOYBUTTONDOWN:         # If ANY BUTTON is pressed then the throttle is set to MIN and it should come down level-ish
                        sblast = open('/dev/servoblaster', 'w')
                        print("ABORT!!!!!")
                        sblast.write("0=100\n1=150\n2=150\n3=150" + '\n')            # If you have a heavy quadcopter change 0=100 to 0=110 or 120 130 or 140 etc so it doesn't crash so hard
                        sblast.close()
                        done = True

Code: Select all

case "$1" in
  start)
        /usr/local/sbin/servod $OPTS >/dev/null
        /bin/date >>/root/flight-recorder.txt                                                   ####### ADD THIS LINE
        /usr/bin/python /root/quad.py >>/root/flight-recorder.txt &                ####### AND THIS LINE
        ;;