Open AccessDevelopment Quadcopter Flight Controller Architecture Based on a Single-Board Computer Raspberry Pi
Author(s) -
Dmitriy A. Lipoviy,
A. S. Maltsev
Publication year - 2020
Publication title -
vestnik novosibirskogo gosudarstvennogo universiteta. seriâ: informacionnye tehnologii/vestnik novosibirskogo gosudarstvennogo universiteta. seriâ: informacionnye tehnologii v obrazovanii
Language(s) - English
Resource type - Journals
eISSN - 2410-0420
pISSN - 1818-7900
DOI - 10.25205/1818-7900-2020-18-3-19-33
Subject(s) - quadcopter , raspberry pi , modular design , software , controller (irrigation) , architecture , embedded system , single board computer , computer science , robot , open architecture , simulation , control engineering , computer hardware , engineering , operating system , aerospace engineering , artificial intelligence , art , agronomy , visual arts , biology , internet of things
This work is devoted to development of a modular flight controller architecture for a quadcopter. The hardware part of the controller is a single-Board raspberry Pi computer, for developing the software part Robot Operating System (ROS) framework was used. The paper describes the developed architecture, control algorithms, results of flight experiments in the Gazebo physical simulator.