A complete rewrite of my drone repository. It now uses a cross-compiler to compile for the Raspberry Pi and an MQTT broker to handle messaging.

This is a C++ project to use a Raspberry Pi as an onboard flight controller in a drone.

This code is not portable, as it directly interfaces with i2c devices.

• PCA9685
• BMP390
• MPU6050
• Simonk 35A ESC
• EMAX 2213/935KV BLDC

• Raspberry Pi i2c
• MQTT broker
• paho-mqtt
• fmt

Requires the install of an MQTT broker on the Raspberry Pi.

Clone the project

  git clone https://github.com/andrew-bork/autonomous

Go to the project directory

  cd autonomous

Build project

  make

Copy files to Raspberry Pi

    scp -r bin/* raspberrypi@hostname:~/install

Start an SSH session, then run.

  ssh raspberrypi@hostname
  ./install/adiru && ./install/motor_controller