SafeFlight

This project is a pure rust implementation of a quadcopter.

Tuned PID:

First Flight:

Features

1. 19 State Kalman Filter
2. PID loop for drone stabilization
3. 3D graphical visualizer of quad state

Todo

• Move sensors to i2cdev-sensors. Create a sensor manager that can be changed in config.json
• Refactor project
• Convert to an Extended Kalman Filter to track location and attitude.
• GPS long distance navigation.

Teststed Hardware

Micro Controller

• Raspberry Pi 3B (3B is needed for Wifi). Otherwise any Pi will do.

Sensors

• LSM9DS0 Gyro, Accel, Mag
• L3GD20 Gyro
• BMP280 Barometer, Thermometer
• LSM303D Accel, Mag

ESC - Electronic Speed Controllers

• BLHeli ESCs

Motors

• Crazepony Emax Mt2213 935kv Brushless Motor

Installation

1. Install Rust https://www.rust-lang.org/en-US/install.html
2. Install Protobuf 3. For the Pi, you may need to install from source since there are no ARM releases.
3. Clone the repo
4. Build with cargo:

cd copter
cargo build --release

4. Run with sudo:

sh run-release.sh

Configuration

Modify copter.json to suit your specific configuration.

• Under motors, list the GPIO ports you used on your Raspberry Pi