The latest code is up on GitHub, but be aware that because the code is mostly the same for Chlöe and Phoebe, the code checks which of Phoebe or Chlöe are running it so that the right per-platform pieces are used. If the host is not Phoebe or Chlöe. it aborts.
For you to run it, you’ll need to add your own Raspberry Pi hostname to the list of permitted pilots, and
- do gravity cube calibration
- tune your PIDs
- make sure your props are wired in the right place / direction (“TESTCASE 1”).
Search for “i_am_phoebe” in the code to see what I mean.