Raspberry pi based flight controller

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• Pixhawk 5X and Pixhawk 6X flight controllers are compatible with this baseboard. Jun 22, 2022 · GASPACS was the world’s first CubeSat to use a Raspberry Pi as its flight computer. It has android app as a controller. Hello, I wrote a flight controller for STM32 as my thesis on the university and I am playing with the idea to add a Raspberry Pi Zero to my system as a navigation system. a. cd px4 sudo taskset -c 2 . MS 5611 (SPI Baro) 9. Add littlefs for flash file storage. In this guide we will focus on the configuration files since not all functions are Dec 16, 2015 · I'm looking to build a stable and smooth drone, which will be able to be contolled in First Person Vue mostly in Interior environment (With Camera Pi). Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. 00. I want to use the raspberry pi as a receiver for the betaflight f7. s. Nov 1, 2020 · You can order the drone to fly to a given point, or even directly control its speed or attitude, by calling the ROS services, provided by clover ROS package (more detailed description of available services can be found in the clover docs). U-blox M8N Glonass/GPS/Beidou. RC I/O co-processor. You big hurdle is that it is generally expected the Pi run Raspbian. Here's what happens when everything is powered: The Raspberry Pi turns on, creates an open Wi-Fi network, and connects to the MultiWii Flight Controller. And in the future want to add Raspberry Pi for object Sep 17, 2022 · Chances are that there are planes flying over your house right now. 5mm tall, 65x31mm. The system is based on a quadcopter with a Raspberry Pi 3 and a Raspberry Pi Camera Module v2. You'll learn how normal RC aircraft work and how to fly the aircraft as well as having a backup should your Pi fail. A nearby smartphone runs a graphical app that provides control over the three-rotor drone, which can be seen flying indoors under manual operation. Today I made the successful Test-flight, that means there were no technical Problems. Raspbian is a Unix like time sharing operating system. The coordination capability is executed by a Raspberry Pi 3B on each drone and managed by ROS. Contribute to PX4/PX4-user_guide development by creating an account on GitHub. Make sure the connection is working by running the following command on the Raspberry Pi: rostopic echo /mavros/state. This software has 3 main functions: Jan 25, 2022 · Putting Raspberry Pi boards into space is nothing new, but the method of achieving orbit often differs. It has an onboard IMU, compass, barometer, and ADC sensors as well as 16 PWM outputs and numerous serial and I 2 C expansion ports. “Raspberry Pi 3B+ is obviously lightweight and it can be easily implemented within a drone. Configuration Protocol. If you encountered the similar problem executing bin/px4 on your Pi as following: Jun 1, 2022 · The Navigator is an ROV and robotics flight controller for the Raspberry Pi 4. Connect the antenna by plugging it into the side of the dongle. This is my first attempt at designing a PCB, so all feedback is greatly Aug 24, 2022 · The Pi Picos are going for about $6 USD, while the Pi 4s are selling for about $90 USD. make scumaker_pilotpi_default upload. A Raspberry Pi Pico (RP2040) Based Flight controller Platform for STEM/STE(A)M Education - butaniravi/PiWings Oct 14, 2023 · During summer 2023, I developed a DIY quadcopter drone using the Raspberry Pi Pico as the “brain”, running a Python-based custom-developed flight controller to achieve flight. LSM9DS1 9DOF IMU. The Afromini amaze can be soldered to a Pi zero hat making a stack only 13. Jan 10, 2019 · Re: Raspberry Pi as navigation flight controller for Quadcopter. Pixhawk Standard Autopilots are used as the PX4 reference platform. I also have to solder the usb's to the hat to turn my usb sockets 90 degrees. ”. And that a drone should be no less smart than my smartphone. Just imagine the need to calculate the input of a sensor to increase speed of This wiki page describes how to setup a system capable to realize indoor autonomous flight. Raspberry Pi Zero 5. This is by far my favorite method for building a raspberry pi drone. The Pi acts as the radio transmitter/ receiver would - transmitting flight instructions to the flight controller. Connect to the Raspberry Pi over SSH. Build Your Own Smart Drone a raspberry pi based drone using Naze32 flight controller - tonbut/rpi-python-drone This software was created to use a Raspberry Pi Zero, in combination with a Raspberry Pi Camera Module v2, as an FPV flight system for a quadcopter. But it didn't work, that's why I am planning to add a flight controllers and want to control it by DIY 2. The PilotPi shield is a fully functional solution to run PX4 autopilot directly on Raspberry Pi. Many projects have come from the PXFmini shield. Erle-Brain Archived 2018-05-27 at the Wayback Machine, (Linux base) designed by Erle Robotics. They are supported and tested by the PX4 development team, and are highly recommended. Power. Add config data to telemetry. Device maintains schema for transmition to configurator (any other device) Key Value pairing treat like register map. MPU9250 9DOF IMU. I'm wondering what flight controller is the simplest and most suitable for this type of project knowing that I do not want to plan flight and I don't need any GPS or long range specific tools The PilotPi shield is a fully functional solution to run PX4 autopilot directly on Raspberry Pi. Oct 22, 2020 · Alex explains, “The CubeSat flight computer includes an MSP430 microcontroller to detect hardware failures and switch to the backup systems as soon as possible, to avoid permanent hardware damage. The Drone Autopilot Flight Controller module is internally connected to the RPi CM4 through TELEM2, while there is the possibility of an ethernet connection using an external cable. While the tried and true Pixhawk runs about $90. If you encountered the similar problem executing bin/px4 on your Pi as following: cd PX4-Autopilot make scumaker_pilotpi_default. The Navigator is an ROV and robotics flight controller for the Raspberry Pi 4. /bin/px4 -s pilotpi_mc. The Navigator will soon be used on the BlueROV2 in conjunction with the BlueOS software, but can also be used for a wide range of Step 5: Flight Controller and Raspberry. This can be done via DroneBridge for Android or by manually editing the configuration files. There are two ways that you can get started with PythonPilot: download the open-source python code and host it on your own computational platform, or. It is designed for embedded applications that require a powerful and flexible computing This topic describes how to setup a Raspberry Pi ("RPi") companion companion running ROS 2 on Linux Ubuntu OS, connecting to a Pixhawk flight controller using a serial connection between the Pixhawk TELEM2 port and the RPi's TX/RX pins. 16 servo PWM channel outputs. Then connect TX to an available RX on the FC and RX to an available TX on the FC. May 30, 2023 · The Pi CM 4 is a compact, highly integrated system-on-module (SoM) developed by the Raspberry Pi Foundation. Raspberry Pi Zero W was responsible for all onboard computing, running Python scripts developed by the team. Sat Mar 02, 2013 9:13 pm. The connected field should have the True value. Dec 19, 2013 · Ideally I'd like the Pi to tell the Rabbit what to do, but leave the low level stuff to the Rabbit, so the Pi can take video & photos and send data back to a base station via WiFi, etc. Hardware Components:RadioMaster TX16S: https://www. The Navigator is used on the BlueROV2 and BlueBoat in conjunction with the BlueOS software Jul 26, 2021 · Using Raspberry Pi's RP2040 SoC microcontroller, Butani created a custom platform for driving and controlling a wide variety of drones, planes and more. A flight control process does not operate well in a time-sharing OS. Just to clarify, the Pi is not the flight controller. PX4 User Guide. If a radiation hit caused a latch-up fault in the active Raspberry Pi, it would create a short-circuit path between the supply and ground. From: $ 320. All communication is through RS232 on a Mavlink protocol $\endgroup$ Oct 20, 2012 · Quadcopter+Raspberry Pi = PiCopter. No proprietary driver is required, as all components have upstream support from RPi and PX4 community. Erle-Brain combines an embedded Linux board (a Raspberry Pi), with a PXFmini board, which contains sensors, IO and power electronics. Nov 30, 2020 · Drone ranges from 500grms to 1kg of weight depending upon the number of motors used whereas quadcopter can weigh up to 500grms. And then connect a common ground wire between them. The software patches for this could be complex, as you’ll need to create a new HAL for the RP2040. However many people have doubt about Raspberry Pi doesn’t run in real time so might have trouble getting sensor data and sending commands to the motor in the right timing Jun 2, 2022 · The Navigator is a Raspberry Pi 4 based flight controller with the following features: 6-axis IMU with accelerometers and gyroscopes for orientation. So my question is, does anyone have any experience with the Rabbit Flight Controller? Would it be practical to control it from a Pi? Dec 17, 2021 · Fri Dec 17, 2021 12:45 pm. 4GHz receiver by NRF24L01 for now. I see no reason why there should be power supply issues. AFAIK, all of the flight controllers are microcontroller based, not CPU based. Jun 2, 2022 · The Navigator is a Raspberry Pi 4 based flight controller with the following features: 6-axis IMU with accelerometers and gyroscopes for orientation. Type 1: Only RPi based, PCA9685 for pwm control (ESC Management) Wifi for wireless control Re: Pi with flyduino flight controller? Sun Aug 21, 2016 3:04 pm. It has been tested for horizontal and vertical movements. developed flight controller is designed to control the movement for as many drones as needed. I’m planning to make flight controller based of RP2040 which is a 32-bit dual ARM Cortex-M0+ microcontroller. rpiquad. I am half way as i have already made it to follow me but gesture Aug 30, 2019 · I've been reading that Raspberry Pi is not suitable for a flight controller because Raspbian (or in my case Windows 10 IoT) is not a real-time OS. Use the Arduino Uno with a ground based robot. Aug 23, 2022 · The PXFMini is a flight controller shield that sits on top of the Raspberry Pi zero, making it an easy drone solution for micro based drones. Using a Raspberry Pi for a flight controller seems like a very odd choice. The first step is to create an account with Flightradar24 using your email address and a password of your choice: Power down your Raspberry Pi. The PXFmini controller and autopilot shield is the latest project from Erle Robotics Jun 3, 2021 · PiWings is a Raspberry Pi Pico -powered quadcopter project developed by maker Ravi Butani. At the current stage it can hold its postion indoors. Specifications¶ Processor (Raspberry PI 3) 1. In conventional smart drone setups at the drone dojo, we recommend having a dedicated companion computer for high level applications (like 4G drone control), and a cd PX4-Autopilot make scumaker_pilotpi_default. These boards are intended as a prototype solution, however, the circuits/software have already been tested on a breadboard. 4GHz. PID type controllers are one of the most popular approaches with Raspberry Pi 3 platform for stability of the flight. It is designed to control the movement of up to three drones. ” Apr 22, 2021 · In the latest issue of HackSpace magazine, we take a look at how to use Raspberry Pi Pico to create a controller that’s just right for you. We checked Sep 27, 2016 · Thanks to Mirko as well, for having introduced a real DIY autopilot project that allows us to experiment with a fully working and well supported BeagleBone based ArduPilot Cape called the BBBMINI. It also utilizes a Raspberry Pi 2B and is controllable by two different devices: a smartphone and a remote control. These instructions should be readily extensible to other RPi and flight controller configurations. Navigator Flight Controller. Apr 26, 2016 · By doing this, the Emlid team increased possibilities greatly as the Raspberry Pi processor is far more advanced than the standard microcontrollers found in flight controllers already on the market. Holybro’s Pixhawk 6X UAV Flight Controller is an autopilot device based on FMUv6 USB connection is the preferred way to connect to the flight controller. This software was designed to make use of the Raspberry Pi's composite video output to produce a video signal compatible with the traditional analog video systems. Jul 6, 2020 · My system is based around a 2GB Raspberry Pi 4 in a heatsink case, with a Flightaware ADS-B radio stick, a 1090MHz desktop antenna, and a copy of Flightaware's Piaware software distribution. The PXFmini is an open hardware shield designed for the Raspberry Pi. The operating system running on an RPI is a full-fledged time-sharing OS (except the RPI PICO). The Navigator will soon be used on the BlueROV2 in conjunction with the BlueOS software, but can also be used for a wide range of Mar 28, 2019 · Today, you can get one for around $100 dollars. The motivation was to create an open-source, modular, easy-to-maintain platform and foundation based on a processor with enough computational capability. Edge Archived 2019-04-03 at the Wayback Machine, drone controller with video streaming system, designed by Emlid. I am building a Quadcopter based on a Raspberry Pi. The reason is because I have seen some PI products such as the gps expansion board and not to mention some of the products that are relative to PI is Arduino, pixhawk? etc? I would certainly be nice to have a computer flight controller Feb 17, 2016 · The latest of these flight controllers is built on everyone’s favorite $5 computer, the Raspberry Pi Zero. Hey there, I am about to start building a quadcopter and I'm still in my research phase. Configure the serial port (UART)¶ If not already configured, the Raspberry Pi’s serial port (UART) will need to be enabled. Dual three-axis magnetometers for compass heading. Connect over ssh and run it with: sh. It can: Read telemetry from an MPU-6050 accelerometer & gyroscope via the I2C protocol; Receive radio commands from an onboard receiver via serial communications (UART) Jan 24, 2024 · The Raspberry Pi plays a pivotal role in enabling these operations by processing input data and generating outputs for the flight controller, a subject we will explore in more detail shortly May 12, 2023 · As soon as I stumbled across the Rockit RP2040-based model rocket flight controller on Tindie, I had to have one. MultiWii is an an open-source software used to control multi-rotor drones. The F310 and F510 are Logitec’s wired USB game controllers while the F710 uses wireless 2. Connect your FCU to the Raspberry Pi using a microUSB to USB cable. While the Astro Pi computers headed for the final frontier onboard a SpaceX Falcon 9 rocket Raspberry Pi based drone flight controller and remote control. A video showing off the project's maiden flight reveals a custom carrier board for an off-the-shelf Raspberry Pi Pico board, adding in an Espressif ESP8266 ESP-01 for Wi-Fi connectivity. Dec 4, 2014 · Would the RPi be capable of interfacing with a remote control for a toy quadcopter, to the point that the Pi could "fly" the quad? Ideally, what I like to see is maybe adding some lightweight sensors to the quad with a downlink which could tell the Pi the orientation and location of the vehicle during flight and the Pi could then make adjustments or send the quad on a programmed flight path, etc. Servo, motors and sensors connect to the hat. Thu May 05, 2016 4:37 pm. Raspberry pi pico - Flight controller (where asac runs) MPU6050 - IMU; FS-a8s - Radio receiver (Flysky, outputs IBUS) xsd7a ESC - ESCs (Single motor ESCs, so 4 in total) Frame - Custom designed, 3D-printed in PLA. Rockit (Rocket Operation Computing Kit) is a compact and inexpensive flight computer designed by Dan Invents from Finland for small model rockets. 4 serial ports. This was a very computationally challenging task, but through much trial-and-error, I was able to squeeze enough performance out of the RP2040 to allow for stable and Dec 26, 2021 · December 26, 2021. In Betaflight, or inav, select the UART you connected the Pi to to be the receiver. Jun 25, 2021 · Raspberry Pi 400 Raspberry Pi Pico General SDK MicroPython Other RP2040 boards; Software Raspberry Pi OS Raspberry Pi Connect Raspberry Pi Desktop for PC and Mac Other Android Debian FreeBSD Gentoo Linux Kernel NetBSD openSUSE Plan 9 Puppy Arch Pidora / Fedora RISCOS Ubuntu; Ye Olde Pi Shoppe Pixhawk Series open-hardware flight controllers run PX4 on NuttX OS. Hello all, these are two PCBs to prototype an Arduino-based quadrocopter flight controller with a Raspberry Pi Pico based transmitter/receiver. In this video, I have outlined step by step how to get your raspberry pi communicating with your pixhawk flight controller. Now we will install the multiwii ans the raspberry pi. Some Facts about my PiCopter: -No Arduinos or so for flight control. I have installed opencv in raspberry pie zero w and I want to communicate it with cc3d flight controller to track object and move drone with object but also want to recognise hand movements to take action like fly, land, follow, return to home etc. config. I have a omnibus betaflight f7 v2 flight controller. Built-in leak detection for 2 probes. Sensors. b. Jul 31, 2020 · In a nutshell, I’m aiming to use kubernetes as a swarm control plane for both flight control software and payload software. Ditch the Arduino Uno and get a Drone Kit with a Pixhawk build some mission functionality on top of that. ensure loop() is called in a loop). Gaming like it’s 1989. I would recommend staying away from the Navio2 and sticking with a more conventional companion computer + flight controller layout like the raspberry pi + pixhawk combo. Use the Raspberry Pi configuration Jul 9, 2015 · AP_HAL_MAIN(); // special macro that replace's one of Arduino's to setup the code (e. Just comes down to whether the pros outweigh the cons. Looking at weight, Pi Picos are about 11 grams, while Pi 4s are about 46 grams. 1. Raspberry Pi Zero --- onboard computer on the drone . 2GHz 64-bit quad-core ARMv8 CPU. Jul 29, 2021 · stephendade (Stephen) July 29, 2021, 10:24pm 2. I would say no, probably not the best idea. In this paper, the quadcopter is developed and it is controlled remotely from a ground control station utilizing RASPBERRY PI and GPS is used to trace the location of the drone. Make Your Own Pixhawk Raspberry Pi Drone in 36 Minutes (2020) | The Ultimate Project Drone. The autonomous tuning of the controller parameters according to the Oct 7, 2022 · Usually the raspberry pi control iut through the stabilized mode, so it is a controller wrap around and angle controller and you send orientation + thrust commands on the raspberry pi and the flight controller control the motor outputs based on the angle and thrust references. This page presents Navio2 - Raspberry Pi autopilot, which runs well proven ArduPilot flight stack and supports all its features. Based on Raspberry Pi, this system can be hacked easily and new features added without compromise. What is Absolutely not. Install the raspberry with his support. A tag already exists with the provided branch name. However, in dynamic environment they are limited in performance and response times. Create a new sketch and upload the code to the ardupilot hardware. Then configuration options must be matched. Next, connect your USB ADS-B receiver dongle to a USB port on your Raspberry Pi. You definitely want to use a real-time operating system for a control system like this. Hi. That was easily understandable for me. LOG_BACKEND_TYPE = 3 if you are using APSync to stream the dataflash log files to the RPi. Mar 28, 2020 · Re: Flight Controller Necessity for RC Plane. . Raspberry Pi drones have gained popularity due to their affordability, modularity, and open design. PCA 9685 (16 channel PWM Servo Driver) 5. My advice for you would be to start with a normal RC transmitter and reciever and to gradually replace the functions of the reciever/transmitter with the Pi. Now PX4 is started with multi-rotor configuration. It's designed to integrate seamlessly with Ardupilot and Dronekit which makes it possible to put together with minimal effort a AI powered, RPi based autonomous drone. Sep 16, 2020 · The very nice thing about the above list is the existence of Raspberry Pi based boards CrazyFlight and similar firmwares are descended from Multiwii but support STM32FX based flight controllers. I wanted a few pointers on how to build a flight controller using the RPi and few other pe Dec 6, 2022 · I saw videos on hoy to make Arduino nano based flight controller which operates the motors via PWM signals. The main reason is that a uC is 100% dedicated to the task, whilst a SBC with CPU is not. It is possible to use a raspberry pi as a flight controller, people have done it. APM Flight controller --- Arduino based flight controller, holds the drone in balance, analyzes GPS Signals, controls the motors (this technology existed) d. Raspberry Pi 4 can be used for this too. Aug 24, 2022 · For example, the Navio2 flight controller and accessories will run you about $250. Current and voltage ADC inputs. Ditch the Arduino Uno, use only Raspberry Pi and build your own ROS Turtle Bot. That means processes gain and loose CPU time based on the OS task scheduling algorithm. -Everything runs on the RPi. If you take the first approach, you will construct your own python program. Navigator Flight Controller by Blue Robotics; Navio2 and Navio+ (Raspberry Pi Linux based), designed by Mar 16, 2022 · Logitec F gamepads that are compatible with the Raspberry Pi include the F310, the F510, and the F710. PIO based camera stream. The Raspberry Pi handles all the flight control without using a micro controller like Arduino. Configuration. This shield was developed my Erle Robotics and was the first of its kind. Then upload it with: sh. There’s a bunch of schematics over at GitHub - ArduPilot/Schematics. Unfortunately, the company Erle Robotics was bought out and the PXFmini project Aug 1, 2020 · The Harpia Flight Controller is Raspberry Pi hat that allows it to controll all kinds of autonomous vehicles, even though it was designed with a hexcopter on mind. MPU 9250 (SPI 9 dof IMU) 8. Based Jun 1, 2022 · Navigator. Find something fun to do with it. radiomasterrc. Raspberry Camera --- to detect plants, faces, objects (anything I program to) c. Raspberry Pi will then send the commands to PX4, flight controller firmware, using MAVLink protocol. Telemetry. You can connect with a Raspberry using rosserial. Use the serial monitor and write down the minimum and maximum values for each channel (whilst moving the sticks to their extremes). Among its many features, this board has an altimeter, accelerometer, and temperature Mar 12, 2018 · The unmanned aerial vehicles can have complicated dynamics and kinematics that governs the flight of such multirotor devices. Mar 8, 2021 · Mon Mar 08, 2021 2:48 pm. It involves a custom PCB, Raspberry Pi Pico and an original Android-based app for controls. I''m sure the Pi Zero is as reliable as any STM32 board you may have. use the Raspberry Pi based flight controller developed by Robotics In Flight, LLC. 1GB RAM. At the core of it is the idea that a flight controller should be an app, not a thing. Now im new to this so bare with me here: I know that the flight controller has the ability to use multiwii serial protocol (MSP) and i have seen guides where they have used a Nov 4, 2021 · The Drone Pi is a drone made with a MultiWii board based on Arduino. I created a simple power distribution board (brown part, at the bottom of the drone in the picture below), where the battery is Sep 1, 2018 · The Erle-Brain is a Linux-based flight controller developed by Erle Robotics located in Spain. Feb 26, 2023 · This video shows the basic hardware needed to create a Raspberry Pi flight controller. A secondary mission of the satellite was to “test the viability of affordable commercial microcontrollers such as the Raspberry Pi. Triple About the project. Sep 30, 2013 · The PiCopter is a remote controlled quadcopter based on a Raspberry Pi. Barometer for altitude in air. Pi Pico. For install the two component at the same place we build a support who came on the top of the raspberry to place the multiwii (see picture). Intel Minnowboard (Linux Base). com/pr Apr 2, 2021 · “The idea is that flight control is conducted as soon as the images are processed, so we not only needed a good, lightweight camera but a lightweight on-drone computer too,” he reveals. Is it possible to use the PI as a flight controller on rc aircraft, Quadcopters etc. I am building my own flight controller for a diy fixed wing. MS5611 Barometer. Using a Raspberry Pi, a device known as an ADS-B receiver, and a standard projector, we can create our very own “radar” that Oct 18, 2023 · The flight controller in question is dubbed Scout, and is designed to put the core capabilities of a commercial flight controller costing $100 or more onto the $4 Raspberry Pi Pico and its dual-core RP2040 microcontroller. We’ll use CircuitPython for this as it has excellent support for USB interfaces. DroneBridge is pre-configured to work out of the box with MAVLink based systems like the Pixhawk or Ardupilot. It is designed to be a low-cost but highly scalability platform with continuous updates from both Linux and PX4 sides. I've read that non real-time OSs are not suitable for critical applications like medical devices, military devices, airplanes, etc. Recently, Butani has announced a new update Jun 13, 2022 · The Navigator is an ROV and robotics flight controller for the Raspberry Pi 4, and includes an onboard IMU, compass, barometer, and ADC sensors as well as 16 PWM outputs and numerous serial and I2C expansion ports. Raspberry Pi based Quadcopter flight controller. Rapsberry Pi + ESP32 based drone with custom flight controller logic, which uses opencv for position control. The situation is still the same. I tried out the PFX mini in my design, but it is a bit too big. raspberry-pi drone quadcopter flight-controller Updated Jun 1, 2024; C++; Oct 16, 2023 · Tim Hanewich has developed a DIY quadcopter drone using the Raspberry Pi Pico as the “brain”, running a MicroPython-based custom-developed flight controller to achieve flight. It is likely more powerful than needed (and therefore more power-hungry), with not much support for real-time operating systems. SERIAL2_BAUD = 921 so the flight controller can communicate with the RPi at 921600 baud. With many form factors, there are versions targeted towards many use cases and market segments. Nov 29, 2023 · The Raspberry Pi, a small and affordable computer commonly used for teaching programming, can be utilized as the flight controller for your drone, giving you the power to program and customize it to your heart’s content. This is a Raspberry pi Based flight controller that can be applied to almost any flying vehicle. Allow device to accept value mod messages to write to config data. Now the Pi can send commands to the flight controller just like a receiver does. The sort of USB devices that we interact with are called human interface devices (HIDs), and Feb 20, 2019 · Sat Sep 28, 2019 3:48 am. g. Making a quadcopter work from scratch is not a simple project and it has taken those who have done this with the Pi many months to get it working Set up Flightradar24. And a raspberry pi 3b+. The only difference between the two wired controllers is the addition of rumble feedback on the F510. Images from camera are used to calculate poses estimation on the Raspberry Pi and the result are sent as MAVLink messages to the Flight Controller. pw pv pi ob ms rl ns jx yh gh