I’d run out of ideas of what to do next, and then it struck me: I could finally add an RC, and with just a few seconds’ thought, I realised it would be reletively simple.
Back at the end of 2013, about a year into my piDrone project, I’d clearly considered this – and yes, that is a Raspberry Pi 1A!!!
I’m guessing this was the point I realised I was way too ignorant, and realised autonomous control was easier, ironically. I still have these I2C Grayhill 67A joysticks, and now RC control is much easier to add safely – it’s just another poll.poll() input to the Autopilot process like the Sweep- and GPS-flight plan inputs are now. And this is perfect for Penelope. Hermione will remain the OTT autonomous control, and ‘P’ will have some degree of manual control. And in a way, this is much like my DJI Mavic – it hands control to the human only when it is safe to do so.
The RC will be based on the new RPI B3+ with it’s improved WiFi. I’ve already done a prototype of how the joysticks attach to a Pimoroni PiBow Ninja body.
And actually, that feeds into the GPS fusion with the IMU ∑∑(acceleration – gravity)δtδt, and LiDARs distance inputs when the LiDARs are out of range. I’m a lot more comfortable testing it this way rather than flying her over a lake!
My lord, I have a cunning plan!
P.S. I’m calling the RC “Phoebe”, who alongside Penelope make up team “Pi²”.
P.P.S. In one of those convenient coincidences, my one unknown was how to power Phoebe. Then this appeared via Twitter. I hope they do another production run. It’s these synchronised occurrences that force you to consider whether there is a higher being playing chess with one’s life!
P.P.P.S. Changed my mind: the RC is called “Ivy” and together with “Penelope”, they make the “PI” team!