Hello, I just upload the myQ release candidate on GitHub. (see permanent link on the right).
It is derived by my beta3.py but includes many additional features:
- a new display that can show the current state of the quadcopter( orientation and motors)
- The possibility to switch between modes (init ESC, test Motors, tune PID an so on) .Any mode has got its own tab with an explanation of what yuo can do.
- a web server that can provide a web page to be used as remote control.From any device using browser just connect to 192.168.0.1/myQ.html and you get the command page. (honestly it could be a little too slow for a quadcopter, it should be better to use socket messaging )
- a netscan functionality in oder to be sure that quadcopter did not loose connection with the remote control
So finally it is time to move back to the field, load all this new things on the rpi and deeply test it!!!
In those days I’m working mainly on the software in order to prepare the release candidate version for myQPI.
I’m going to merge all the functionalities (like motor test, pid tuning etc.) in one place.
So the last brick is a nice and smart user interface :
It is possible to read info about:
- motor speed
- roll,pitch and yaw from IMU ( the current value)
- roll,pitch and yaw from remote controller ( the target value)
- selected mode and commands from rc
- PID values
Using the kayboard arrows, it is possible to switch between modes :
- Init – where it is possible to load save and modify options (not implemented)
- ESC – where it is possible to init the esc
- Motor – wher it ispossible to move the motor singularly,for testing purpose
- PID- where it is possible to tune all the pid parameters (implemented for roll and roll rate only).this is thinked to help during the testing phase with quad tied up on 2 side
- Flying – where it is possible to guide the myQPI using the joystick command
- UAV – where it is possible to define a specific path . This has been implemented by changing angles and trottle respect time.
Every mode has got its specific UI.For example in the picture you can see the PID mode, where the user has to ackwoledge the motor start, can start the PID control and then tune the kp,ki,and kd.
This module called display.py is available on my Github repo. In addition you can find the whole current development (not yet completed tested on the real quad!) .
If you are curious, yuo should be able to run it by the command python myQrc.py . I can see the program running also in my development pc, without raspberry connected.It should work also for you.
So the appointment is for the next post where I’ll officially launch the release candidate!