Micropython Flight Controller

A stabilization system for drones using a pyboard, a MPU6050 and a RC receiver

wagner

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Description

The pyboard has a processor much better than commercial flight controllers, so we can made a flight controller similar or better written in python.

The main.py is based is this link:
http://owenson.me/build-your-own-quadcopter-autopilot/

The mpu6050.py is a modified version from here:
https://github.com/cTn-dev/PyComms/tree/master/MPU6050

The pid.py is based from here:
https://github.com/diydrones/ardupilot

To receive the PWM from the RC receiver, I took the code from here:
http://wiki.micropython.org/platforms/boards/pyboard/modpyb/Timer-Examples

To control the speed controls, I take the code from here:

Details

Here is the code: https://github.com/wagnerc4/flight_controller

Components

1 × pyboard micropython board
1 × FrSky receiver 2.4 GHz receiver with telemetry
1 × FrSky transmiter 2.4 GHz transmiter with telemetry
1 × mpu6050 3-axis accelerometer and 3-axis gyroscope

Project Logs

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github repositry
wagner • 12/16/2015 at 18:28 • 0 comments

Here the github repository:
https://github.com/wagnerc4/flight_controller
Code structure
wagner • 11/09/2015 at 18:12 • 0 comments

The actual code for the pyboard are divided in 5 scripts:
rc.py -> read pwm from receiver
esc.py -> send pwm to speeds
mpu.py -> read accelerometer and gyroscope
pid.py -> stabilize the multicopter
main.py -> joins all scripts
And 1 script for the simulator on the laptop:
MPUTeapot.py
Now I'm working with the telemetry
pyboard and FrSky
wagner • 10/15/2015 at 15:44 • 0 comments

My FrSky transmiter y receiver has arrived!!!
The code for interface the pyboard and the FrSky L9R long range receiver will be the next log...

View all 3 project logs

Discussions

wind wrote 02/21/2024 at 16:51

Finally found this

Are you sure? yes | no

tabshi wrote 11/16/2016 at 06:54

how about the robust?

Are you sure? yes | no

wagner wrote 09/12/2015 at 14:42

The pyboard build-in accelerometer only have accelerometer.... The mpu6050 have gyroscope and accelerometer. In the main.py are commented the code for use the build-in accelerometer:

#accel = pyb.Accel()
imu = MPU6050()

.....

#x, y, z = accel.filtered_xyz()
x, y, z = imu.get_xyz()

......

You only have to switch this commented lines.

The problem with the built-in accelerometer is that when you shake, it throw wrong data... I have checked the accelerometer documentation and it can determine shake movements, but this feature seems not implemented in the micropython pyboard.

http://micropython.org/resources/datasheets/MMA7660FC.pdf

The mpu6050 doesn't have problems with shake movements....

Are you sure? yes | no