This code runs on the Raspberry Pi 2, receives sensor and control data and controls the motors.
Note: This currently works with Mac OSX 10.11.4.
We're using Cleanflight on a Naze 32 for this project. Cleanflight is located in the fc subdirectory of this repository as a git submodule. We also have large files in the repository stored with git lfs, so you'll need to install that: brew install git-lfs.
The process for cloning the repo looks like this:
git clone --recursive [email protected]:wheatco/copter.git
git submodule foreach git pull origin master
Then, when the repo is open, just type ./build_fc.sh to run the build script. It will automatically untar the cross compilation scripts if you haven't done so already, then use them to compile cleanflight (located in the fc directory). Also note that we're purposely using GCC v4.9 from Q2 2015 because newer versions are incompatible with the cleanflight.
First, download ARMv7 builds of Cargo and Rust to cargo.tar.gz and rust.tar.gz on your Pi. Then just run:
tar xzf cargo.tar.gz
sudo tar xzf cargo.tar.gz
sudo tar xzf rust.tar.gz
chown -R root:users /opt/rust/nightly
sudo chown -R root:users /opt/rust/nightly
sudo chmod -R 775 /opt/rust/nightly
sudo apt-get install git
curl -sf https://raw.githubusercontent.com/brson/multirust/master/quick-install.sh | sh
multirust update stable --link-local /opt/rust/stable
multirust update unofficial-stable --link-local /opt/rust/stable/
multirust default unofficial-stable
You should now have a running rustc and cargo.
TODO add hardware info
Make sure i2c is enabled. We did this by running raspi-config and choosing the enable i2c option.
Download this project to the Pi, and just cargo run.