Autonomus Drone RPI

Setting up the virtual environment

Note : It is recommended to setup a virtual environment and then run the program

py -m venv ./venv  #creating virtual environment
venv\Scripts\activate  #to activate the environment after creation

Installation and getting started

To install all the neccessary requirements run the following commands

pip install -r requirements.txt # for installation of libraries

For running the program

Run the main.py file using

python main.py

To Exclude files from github

To exclude files from github just add their path to the .gitignore file

Adding new libraries to requirements file

To add more libraries to the requiremnts.txt file just install the library using pip/conda and then execute the following command in terminal

pip freeze > requirements.txt

To upgrade a package already installed

pip install --upgrade --force-reinstall <package_name>

Note : Apart from the PIP commands you also have to install some packages via sudo apt using the command mentioned below. This is valid for Raspberry pi.

 sudo apt install libcblas-dev libhdf5-dev libhdf5-serial-dev libatlas-base-dev libjasper-dev 

Important Points to note

• The failsafe inside teensy is disabled

Tasks

• get altitude from Raspberry pi to teensy(i2c)(needs to be used)
• PID for throttle using Altitude
• get altitude from BMP 280
• write code for mux(currenlty in altitude hold mode the pitch yaw and roll is manual)
• GPS (optional)
• SD Card Log Support (optional)
• Electromagnet Test
• multi Aruco Support
• Landing test
• Searching algorithm in main code
• Calibration of mag needs to be done
• Fix Altitude Problems (Altitude shouldn't go negative)
• Add low pass filter
• Change arming sequence according to teensy 4.1
• i2c communciation between rpi and teensy 4.1
• Throttle build up way to slow (need to increase)
• Need to reduce the percentage error on the throttle build up

Our Teams Members

• Mansi Kalra
• Reeshav Chowdhury
• Soumil Arora
• Shashank Agarwal
• Rishab Sood
• Ansh Chawla
• Aayush Singla
• Vinayak Pandey

Addresses of diffrent devices

• Teensy 0x44
• MPU6050 - 0x68
• BMP280 - 0x77
• Compass - 0x1E
• Arduino - 0x32