IMPORTANT: use rpi-mw-legacy.rpi, the other code has lots of bugs and I stopped working on it in order to rewrite the code in a more simplistic an efficent way.
Connection between the MultiWii board and computer via serial communication... I'm using a raspberry pie to read data onboard a multicopter.
Small implementation of the MultiWii serial protocol, based on the work by: Drew Brandsen
Right now, just ask to the MW board for the data needed, and just prints it on the screen or saves it to a file in CSV like format, the purpose will be to make it work as a datalogger for systems identification of the multicopter.
- Use the
droneclass in order to configure what you want. (comments pretty selfexplainatory) - Configure your serial port
... and thats it!
It's tested on Mac and on a rpi. After changing the serial port to yours, you must be able to see something like is as output:
$ python rpi-mw-legacy.py
Beginning Multiwii - wait 14 seconds...
0.14 0.14 1500.0 1500.0 1500.0 1500.0 0.0 -19.0 515.0 0.0 0.0 0.0 -50.0 -194.0 465.0
0.048 0.188 1500.0 1500.0 1500.0 1500.0 -3.0 -18.0 515.0 0.0 1.0 1.0 -50.0 -194.0 465.0
0.045 0.233 1500.0 1500.0 1500.0 1500.0 2.0 -14.0 513.0 -1.0 -1.0 0.0 -49.0 -193.0 465.0
0.048 0.281 1500.0 1500.0 1500.0 1500.0 3.0 -15.0 510.0 0.0 -1.0 0.0 -49.0 -193.0 465.0
0.048 0.329 1500.0 1500.0 1500.0 1500.0 0.0 -15.0 514.0 1.0 0.0 -1.0 -49.0 -195.0 466.0
0.05 0.379 1500.0 1500.0 1500.0 1500.0 -2.0 -16.0 511.0 -1.0 1.0 0.0 -49.0 -195.0 466.0
0.046 0.425 1500.0 1500.0 1500.0 1500.0 -1.0 -16.0 514.0 0.0 0.0 0.0 -50.0 -194.0 465.0
0.046 0.472 1500.0 1500.0 1500.0 1500.0 0.0 -17.0 515.0 0.0 0.0 0.0 -50.0 -194.0 465.0
0.048 0.52 1500.0 1500.0 1500.0 1500.0 1.0 -17.0 517.0 1.0 1.0 0.0 -50.0 -195.0 466.0
0.045 0.565 1500.0 1500.0 1500.0 1500.0 -2.0 -19.0 515.0 0.0 0.0 0.0 -50.0 -195.0 466.0
0.048 0.613 1500.0 1500.0 1500.0 1500.0 1.0 -18.0 513.0 1.0 -1.0 1.0 -49.0 -195.0 467.0
0.046 0.659 1500.0 1500.0 1500.0 1500.0 -1.0 -15.0 513.0 -1.0 0.0 0.0 -49.0 -195.0 467.0
0.05 0.709 1500.0 1500.0 1500.0 1500.0 -2.0 -16.0 520.0 0.0 0.0 0.0 -49.0 -193.0 466.0
0.045 0.754 1500.0 1500.0 1500.0 1500.0 -2.0 -16.0 512.0 0.0 1.0 0.0 -49.0 -193.0 466.0
0.046 0.8 1500.0 1500.0 1500.0 1500.0 -1.0 -18.0 511.0 0.0 -1.0 -1.0 -49.0 -193.0 466.0
0.045 0.845 1500.0 1500.0 1500.0 1500.0 1.0 -16.0 515.0 -1.0 0.0 -1.0 -51.0 -193.0 465.0
0.045 0.89 1500.0 1500.0 1500.0 1500.0 0.0 -16.0 510.0 0.0 0.0 0.0 -51.0 -193.0 465.0
0.046 0.936 1500.0 1500.0 1500.0 1500.0 -1.0 -15.0 512.0 -2.0 0.0 0.0 -49.0 -194.0 465.0
0.047 0.983 1500.0 1500.0 1500.0 1500.0 0.0 -16.0 519.0 0.0 0.0 0.0 -49.0 -194.0 465.0
0.047 1.03 1500.0 1500.0 1500.0 1500.0 -4.0 -15.0 516.0 0.0 1.0 0.0 -51.0 -194.0 466.0
0.045 1.075 1500.0 1500.0 1500.0 1500.0 -4.0 -15.0 518.0 0.0 0.0 0.0 -51.0 -194.0 466.0
0.046 1.122 1500.0 1500.0 1500.0 1500.0 -2.0 -17.0 517.0 1.0 0.0 1.0 -49.0 -195.0 465.0
0.048 1.17 1500.0 1500.0 1500.0 1500.0 1.0 -19.0 515.0 0.0 0.0 -1.0 -49.0 -195.0 465.0
0.049 1.219 1500.0 1500.0 1500.0 1500.0 -1.0 -21.0 511.0 0.0 0.0 -1.0 -49.0 -195.0 465.0
0.045 1.264 1500.0 1500.0 1500.0 1500.0 -3.0 -16.0 512.0 0.0 1.0 0.0 -49.0 -195.0 466.0
0.047 1.311 1500.0 1500.0 1500.0 1500.0 -1.0 -17.0 516.0 1.0 0.0 0.0 -49.0 -195.0 466.0
0.048 1.359 1500.0 1500.0 1500.0 1500.0 0.0 -18.0 513.0 0.0 1.0 0.0 -49.0 -195.0 465.0
0.048 1.407 1500.0 1500.0 1500.0 1500.0 3.0 -14.0 515.0 0.0 0.0 -1.0 -49.0 -195.0 465.0
0.051 1.458 1500.0 1500.0 1500.0 1500.0 -3.0 -17.0 519.0 0.0 0.0 0.0 -50.0 -194.0 465.0
0.048 1.507 1500.0 1500.0 1500.0 1500.0 -1.0 -21.0 517.0 1.0 1.0 0.0 -50.0 -194.0 465.0
0.047 1.553 1500.0 1500.0 1500.0 1500.0 0.0 -16.0 509.0 0.0 0.0 0.0 -50.0 -195.0 467.0
The above data is 4 channels of the radio (roll, pitch, yaw, throtlle) and the raw IMU, so, (ax,ay,az,gx,gy,gz,mx,my,mz), the first values are the time in each loop, and the overall time.
This code is able to do 50hz when asking for one command.
It also contains the stuff needed for asking data to a UDP server, in my case the UDP server is a motion capture system.