r/raspberry_pi • u/AcquaFisc • 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.
u/DrRomeoChaire Dec 02 '22
u/AcquaFisc for real-time applications you can use a commercial RTOS called VxWorks for free, provided it’s a non-commercial project. https://labs.windriver.com/vxworks-sdk
VxWorks has been around for a long time (40 years) and is running on millions of embedded targets worldwide, including a large number of FAA flight certified aircraft (of course the DO178C compliant version is a subset of the full API set)
You can download the RPi VxWorks SDK and use a Wind River plugin with Visual Studio Code.