CHNxuangithub / RPiSingleAPM

SingleFlight linux flight controller software for Raspberrypi

SingleFlight

SingleFlight is linux-userland C++ flight controller, without any external micro-controller

This project differs from Betaflight and inav in that it focuses on running controller in ARM-Linux, and suit for indoor navigation.

Warnning: This project is GPL3.0!

develop suppend for few weeks, if any questions, ask in issues

becuse of job ...

• GetStarted
  • Features
  • HardwareSupport
  • Special thanks
  • BuildConfigure
  • Configure RaspberryPi For Controller

Features

• Run in Linux User Land, not require any realtime os
• Run in Raspberrypi4B without any external controller
• 4kHZ with Attitude Control and 100HZ IMU navigation
• ESC oneshot125 support with PCA9685, YES, it's ONESHOT125, Up to 1.5KHZ
• Position hold , Speed hold with stick
• Simple C++ API control copter's speed , position, attitidue. Custom Position sensor and RC input support
• Auto-Takeoff support

Supported Hardware

• Attitude controll with MPU9250
• Surface Tracking with Mateksys 3901-L0X: OPTICAL FLOW & LIDAR SENSOR
• AltHold controll with Mateksys 3901-L0X , or MS5611 Pressure sensor
• GPS hold with M8N (Unimplment)
• QMC5883 or HMC5883 support (Uninplment)
• 5 - 7 inch Race-Quadcopter test Pass
• PCA9685 PWM controller to ESC
• Sbus and Ibus RC support

BuildConfigure

Build Test Module And Fly On RaspberryPi:

    #TestModule Is using Json lib for FlightController configure
    #You need to compile and install nlohmann/json in you RaspberryPi OS
    git clone https://github.com/nlohmann/json
    cd json && git checkout v3.7.0
    mkdir build && cd build
    cmake .. && make -j1 #prevent 1GB device OOM,if your Pi is over 2gb can use -j4
    sudo make install
    cd ../.. #Please make sure what things you are doing
    #Build RPiSingleAPM
    git clone https://github.com/TSKangetsu/RPiSingleAPM.git --recursive
    cd RPiSingleAPM && mkdir build
    cd build && cmake ..
    make -j1 && cp SingleAPM /usr/bin
    cd .. && cp APMconfig.json /etc/ #Copy APMConfig.json to /etc/ , this file has flying controller settings,like pid tunning
    SingleAPM -r # Run APM Programe If data fresh at screen , you can try to fly

Use RPiSingleAPM for developing

    #Do this in you git project if you using CMake
    git submodule add https://github.com/TSKangetsu/RPiSingleAPM [Dir-Where-you-want]
    #In CMAKE
    ...
    add_definitions(-DRPiDEBUGStart)
    add_definitions(-DRPiDEBUG)
    ...
    add_subdirectory([PATH-TO-RPiSingleAPM]/src)
    ...
    target_link_libraries([YOU-EXEC] RPiSingleAPI)
    #Attention!
    # If you use git submodule , when you clone a new dir, you need to add --recursive
    # or After Clone run:
    git submodule update --init --recursive

Configure RaspberryPi For Controller

• If you are RaspberryPi4B, and want to use GPS or FlowSensor. You can check here

    # Edit /boot/config.txt
    core_freq = 250 
    # If you want to use software Serial for RC controller
    # If RC use hardware serial can be higher
    # If using Analog Video Output on PI4 should be 360 and use hardware serial
    dtparam=i2c_arm=on
    dtparam=i2c_baudrate=400000 #RaspberryPi3 Is max to 400khz,Pi4 can Up to 1MHZ
    dtparam=spi=on
    # This set i2c and spi enable for RaspberryPi 
    # or you can use sudo raspi-config to configure
    enable_uart=1
    dtoverlay=pi3-miniuart-bt # Disable Software Serial for GPIO
    dtoverlay=uart3 # if you are Pi4 that you can use more than 4 GPIO Uart
    dtoverlay=uart5 
    # Set Uart enable and use Hardware serial

    # Attention: If config.txt exist same object ,replase it
    # AfterChange Save and reboot RaspberryPi to effect the settings

• AddOn: You need to Disable GPIO UART Login TTY. You can check here