Linux-based Quad-Rotor Control

Hi Everyone,

just want to highlight our most recent developments on PenguPilot, a GNU/Linux based Multi-Rotor UAV Autopilot.

A Video with horizontal GPS position stabilization and vertical ultrasonic stabilization is avaliable here:

Gumstix Overo and Linux based PenguCopter from Tobias Simon on Vimeo.

The whole control process is implemented in C under Linux (PREEMPT Kernel). The latest source code is available here:

https://github.com/PenguPilot/PenguPilot

IPC among C and Python processes is implemented via ZeroMQ and MessagePack/Protobuf.

Regards, Tobias

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • robot challenge 2015

    gratulation zum gold im air race rennen!

  • Hi Tobias,

    could you tell approximate hardware setup for Gumstix Overo? It's hard to grasp completely from github repo which hardware you use with Overo. I mean sensors, etc.

    • Hi Aleksandr,

      - we use the 4 Timer/PWM outputs of the Gumstix for motor control using the OMAP3-PWM driver.

      - Drotek MPU6050/MS5611 Sensor board is connected to the Gumstix's I2C Bus 3.

      - Maxsomar I2CXL ultrasonic Sensor is connected to I2C bus 3 as well.

      - LEA-6 GPS receiver is connected to ttyO0 (NMEA output at 115200 baud, 10Hz update rate)

      - ACT DSL remote control receiver connected to ttyO2

      - Current Sensor connected to ADC channel 7

      - Voltage measured via ADC channel 2

      - Internal WiFi of the Gumstix für SSH

      3702500867?profile=original

      Cheers, Tobias

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @Heavy02011: #VirtualRaceLeague: @DIYRobocars Race #14 - #ParkingLotNerds join us January 15th for #AutonomousRacing #RoboRace ⁦@DAVGtec…
yesterday
DIY Robocars via Twitter
RT @chr1sa: And after that came our races, 50 in all. This battle between these two Russians was the best we've ever seen -- incredible fig…
yesterday
DIY Robocars via Twitter
RT @chr1sa: Before our @DIYRobocars virtual race this weekend, we had a presentation from the team that won the Indy Autonomous Challenge i…
yesterday
DIY Drones via Twitter
Dec 12, 2021
DIY Robocars via Twitter
Dec 12, 2021
DIY Robocars via Twitter
RT @chr1sa: Just a week to go before our next @DIYRobocars race at @circuitlaunch, complete with famous Brazilian BBQ. It's free, fun for k…
Dec 4, 2021
DIY Robocars via Twitter
How to use the new @donkey_car graphical UI to edit driving data for better training https://www.youtube.com/watch?v=J5-zHNeNebQ
Nov 28, 2021
DIY Robocars via Twitter
RT @SmallpixelCar: Wrote a program to find the light positions at @circuitlaunch. Here is the hypothesis of the light locations updating ba…
Nov 26, 2021
DIY Robocars via Twitter
RT @SmallpixelCar: Broke my @HokuyoUsa Lidar today. Luckily the non-cone localization, based on @a1k0n LightSLAM idea, works. It will help…
Nov 25, 2021
DIY Robocars via Twitter
@gclue_akira CC @NVIDIAEmbedded
Nov 23, 2021
DIY Robocars via Twitter
RT @luxonis: OAK-D PoE Autonomous Vehicle (Courtesy of zonyl in our Discord: https://discord.gg/EPsZHkg9Nx) https://t.co/PNDewvJdrb
Nov 23, 2021
DIY Robocars via Twitter
RT @f1tenth: It is getting dark and rainy on the F1TENTH racetrack in the @LGSVLSimulator. Testing out the new flood lights for the racetra…
Nov 23, 2021
DIY Robocars via Twitter
RT @JoeSpeeds: Live Now! Alex of @IndyAChallenge winning @TU_Muenchen team talking about their racing strategy and open source @OpenRobotic…
Nov 20, 2021
DIY Robocars via Twitter
RT @DAVGtech: Live NOW! Alexander Wischnewski of Indy Autonomous Challenge winning TUM team talking racing @diyrobocars @Heavy02011 @Ottawa…
Nov 20, 2021
DIY Robocars via Twitter
Incredible training performance with Donkeycar https://www.youtube.com/watch?v=9yy7ASttw04
Nov 9, 2021
DIY Robocars via Twitter
RT @JoeSpeeds: Sat Nov 6 Virtual DonkeyCar (and other cars, too) Race. So bring any car? @diyrobocars @IndyAChallenge https://t.co/nZQTff5…
Oct 31, 2021
More…