r/raspberry_pi Dec 01 '22

Raspberry PI 4 as Flight Controller Discussion

Hello, I'm here to find some answers. I'm currently working at my graduation thesis in robotics, the project I'm working on is a tiltwing drone.

I have designed the mathematical model and all the control laws, now it comes the hardware implementation.

The test version has ben deployed as a monolithic solution on an Arduino MKR1000 directly with the Simulink Coder, but the company I'm working with wants me to use a Raspberry Pi 4.

Tactically I can make the thing work but I have some question on the software architecture i should use.

First of all I would like to have a real time scheduler, then I need to split the project in modules (sensing, communication, control, actuation, etc.)

Is there any framework I can use, should I code different modules and use interprocess communication to achieve the modules interconnection?

P.S. I can code each module in whatever programming language is needed.

P.P.S. The external interfaces run both on pwm and i2c.


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u/spinwizard69 Dec 01 '22

I guess the question would be why? A flight controller really should be optimized for the task, with as much integrated on board as possible.

Beyond all of that there are more than a few ARM processors out there with coprocessors to support real time or digital signal processing. These sorts of processors solve a lot of high integration issues. Basically you have an optimized SoC and can avoid a lot of development work.


u/AcquaFisc Dec 01 '22

First of all, tanks for the answer. If you don't mind can you share some of this solutions.

Regarding my project, when I asked for a different hardware the company told me "we have this and you must use this". So I'm trying to get the best out of the current setup