dmitriko/flowberry

Software described in "Ego-motion Sensor for Unmanned Aerial Vehicles Based on a Single-Board Computer"

Flowberry

Software described in "Ego-motion Sensor for Unmanned Aerial Vehicles Based on a Single-Board Computer"

Hardware

• Raspberry Pi 3
• Raspberry Pi Camera Module v2
• L3GD20H (gyro) connected to I2C
• HRLV-EZ4 (ultrasonic sensor) connected to UART

Compilation

First, build the OpenCV library (version 3.1.0) and make sure it is registered by pkg-config:

pkg-config --libs opencv

Then, make sure all submodules are loaded:

git submodule init
git submodule update

Finally, build the application by running make.

Usage

Obtain gyro_calib.txt using the gyro utility in tools/gyro:

./gyro -c

Calibrate camera using using RaspiCalib and save its output as flowberry_camera_calib.xml:

./raspicalib default.xml

Finally, run flowberry at 30 FPS:

./flowberry 30

This starts Mavlink server at 192.168.42.42:14550. The data can be observed using QGroundControl.