My Raspberry Pi drone: the story so far

Рет қаралды 55,384

Күн бұрын

3 years. A university degree. A rediscovery. This is the story (so far) of my Raspberry Pi powered drone.
This project is a monster. I started it in late 2017 for my university degree, aiming to create a drone that maps indoor spaces using photogrammetry. I've covered everything done from that time through to 2021 in this video!
Very much looking forward to where I take this project next!
00:00 - Intro
01:10 - Build (v1.0)
02:10 - Flight software
03:17 - Indoor Positioning
05:01 - Photogrammetry
06:28 - Testing
07:53 - Analysis
09:16 - Rediscovery
09:47 - Fixes
10:54 - Build (v2.0)
12:04 - Hello, world
13:39 - What's next?
🌐 Links
Dissertation: akamatchstic.com/files/disser...
Computerphile: / computerphile
ℹ️ Attributions
| Music
Music: www.bensound.com
Music: www.purple-planet.com
| Sound Effects
Rewind FX
freesound.org/people/Tasmania...
| Iconography
bqlqn from Flaticon
www.flaticon.com/authors/bqlqn
Freepik from Flaticon
www.freepik.com
Twemoji
twemoji.
| Video
Photogrammetry 2 - 3D scanning with just PHONE/CAMERA simpler, better than ever!
Prusa 3D by Josef Prusa
• Photogrammetry 2 - 3D ...
ORB-SLAM2: an Open-Source SLAM for Monocular, Stereo and RGB-D Cameras
Raúl Mur Artal
• ORB-SLAM2: an Open-Sou...
ArduCopter Release V3 - The "expensive multirotor flight system" killer!
Marco Robustini
• ArduCopter Release V3 ...
Video by Mikhail Nilov from Pexels
www.pexels.com/video/close-up...
Video by RODNAE Productions from Pexels
www.pexels.com/video/teacher-...
💡 Research Papers
OpenMVS: Multi-View Stereo Reconstruction Library. (2020). Cernea, Dan.
Available: cdcseacave.github.io/openMVS
Structure-from-Motion Revisited. (2016). Schönberger, Johannes Lutz and Frahm, Jan-Michael
Conference on Computer Vision and Pattern Recognition (CVPR).
Pixelwise View Selection for Unstructured Multi-View Stereo. (2016). Schönberger, Johannes Lutz and Zheng, Enliang and Pollefeys, Marc and Frahm, Jan-Michael.
European Conference on Computer Vision (ECCV)
⚙️ Drone Hardware
- Raspberry Pi Zero W
- Raspberry Pi Camera Module
- Erle Robotics PXFmini (no longer available)
- Erle Robotics Power Module (no longer available)
- Martian II 250 frame
- Battery (LiPo, 3S, 2200mAh, 40C)
- 4x Racerstar RS30A V2 30A (ESCs)
- 2x MultiStar V-Spec 2205 CW (Motors)
- 2x MultiStar V-Spec 2205 CCW (Motors)
- 4x Gemfan Multirotor CRP Propeller 6x4.5 (CCW and CW)
🧐 Social Stuff
Twitter: / akamatchstic

Пікірлер: 101

@joflo5950 2 жыл бұрын

What an amazingly high quality for the channel size. Good luck!

@nacorti Жыл бұрын

Really respect you putting your failures out there - I went through similar struggles in my first few builds, and also just came out of a similar break from drone building like you. Great perseverance, and excited to see what you build next.

@danielq1985 Жыл бұрын

That moment at the end when the drone finally works was awesome. I know that feeling all so well and it makes all the hard work totally worth it. I am currently working on a similar project but on a rover chassis. Good luck!

@foolwise4703 Жыл бұрын

Thank you for sharing this project! It really gets across how big of an undertaking this is. I had some similar ideas - so far only got to a fairly regular fpv drone to show for. That is lots of fun to fly, but nothing special yet. I'll see how far I get in the years to come, but stories like yours are very helpful to decide which directions to take!

@urielsambiani7305 2 жыл бұрын

Was really impressed!! I’m still in process of thinking what my dissertation is gonna be about but your work really inspired me ! Thank you and congratulations!!

@GulamMustafa148 2 жыл бұрын

Hard work never fails, congratulations 🎊 👏

@tmf-stevelewis 2 жыл бұрын

This is awesome, such a lot of information and really well presented, cheers for the channel

@danw050 2 жыл бұрын

Superb work, Matt! You're off and running! This project is the COOLEST thing ever... and I look forward to more installments!!

@BenAllwoodtheGreat 11 ай бұрын

Matt, you are fantastic. A great presenter with great projects. I truly hope to see more projects from you.

@akamatchstic 11 ай бұрын

I’m currently editing a new video! Hopefully will be done soon

@user-xe8oi5oq6c Жыл бұрын

You did awesome work!

@keshav2136 Жыл бұрын

That's a great project. Thnx for showing us.

@MrTombraider69 9 ай бұрын

Great vid!

@cxosposync9937 2 жыл бұрын

Awsome Prj!!!

@tymscar 2 жыл бұрын

Super interesting! Love the photogrammetry part the most! I wanted to work on something similar for a very long time now!

@akamatchstic 2 жыл бұрын

Thanks! It’s probably good for me to mention that my pipeline was created in early 2018 - there’s likely better approaches nowadays 😅. The general principle is the same though! There’s some great comparisons between different photogrammetry packages here: peterfalkingham.com/2020/07/10/free-and-commercial-photogrammetry-software-review-2020/

@offensivebias3965 2 жыл бұрын

Very informative video , Thank you

@seanhill8943 9 ай бұрын

Both your hair and your mind are majestic af! Good on ya mate

@sandeshdesai1638 2 жыл бұрын

Great video. Very enjoyable and interesting

@--Tanjumul 2 жыл бұрын

This is awesome

@mimotiti5176 2 жыл бұрын

Good job mate

@duanebowman9595 2 жыл бұрын

hope to see more

@gadgetmanmac 2 жыл бұрын

awesome video my son is studying computer science @college

@miguelacosta808 2 жыл бұрын

Great stuff man! I am also working on an autonomous drone build using raspberry pi and Pixhawk for my Senior Design project at my university. I look forward to more videos like these showing your progress. Keep it up!

@adekunleafolabi1040 2 жыл бұрын

Same here, we're using arduino for flight control tho, cos a pixhawk is expensive

@gtrfx 2 жыл бұрын

I also used PXFmini to build a drone for my final project at the university. It was always a challenge to make it fly correctly and I only did it once. The PXFmini was not discontinued by chance. Pixhaws is definitely the way to go. That Photogrammetry stuff is awesome, hope you continue to work on that.

@akamatchstic 2 жыл бұрын

“A challenge to make it fly” is definitely an understatement, that’s for sure…! Looking now at pairing a PixHawk with the Jetson Nano or a Pi 4, though space limitations on the drone means that I’m likely going to have to rebuild with a new frame. Should make a good video, at least! 😅

@kevshow 2 жыл бұрын

@@akamatchstic I had been working on a build a while back but got caught up with work and life and such, using the raspi 3 and navio2,. I have that operational once again, as I have no found significant time to focus on a smaller drone version that is 3d printed among other cool features, that are all relative to your goals. First off awesome work. Second off, why are you using PixHawk and other autopilot hats instead of a flight controller that supports inav or betaflight and then connects to raspi? Also super open to talking and collabing on work. I have a TON of drone ideas that I am finally trying to spend more time getting involved in. I have noticed a TON of flaws in the embedded systems community especially around drones too. Maybe not flaws but lack of standards, frameworks, modular adaptability, and among other things software choices. So please feel free to pm me on this topic as well.

@CucamongaGuy 2 жыл бұрын

most excellent

@felixquehl Ай бұрын

I had some problem controlling the ESC from a RPI5, at the moment my guess is that the PWM signal is 3.3v logic which is to week for my particular ESC. Did you specifically use ESC that run with 3.3v PWM logical voltage?

@zappy9880 Жыл бұрын

Nice one bro! how long does its battery last while flying? and what's the model of the rotors?

@Nomoreidsleft 8 ай бұрын

I was going to do this for a Master's thesis in 2014. Had the same idea about streaming video to a GPU ground station for recognition. Needless to say, I also had to switch me topic. If I were doing it today, I would use the PixHawk in combination with a Nividia Nano. But as if 2023 this problem has been solved. You can buy a drone made in China for under $200 that does it very well.

@EndyMuhardin 2 жыл бұрын

Nice work getting the raspi up in the air. I don't know how things were going at 2017, but nowadays in 2021 you can get a dedicated flight controller with gyro built-in for the price of a raspi alone. From the video, I infer your original goals is the 3d mapping stuff. Why don't you use a prebuilt flight controller which already handle the heavylifting of flying stuff so that you can focus on the 3d mapping thing? Not meant to be fussy about it, just curious. Maybe you'd like to learn about the flying mechanism? Great work, I am looking forward to see where this will go. Good luck 👍🏻

@akamatchstic 2 жыл бұрын

From memory, going for the Raspberry Pi was a case of it could run Linux for doing stuff onboard the drone, and with the right hardware could also run ArduPilot. You’re absolutely right though - a pre-built flight controller would have been a much better idea! Many times I wish I’d just gone with a PixHawk or something similar… oh well!

@zhefanx2783 2 жыл бұрын

Nice work. I am also working on the same thing

@vikaspoddar9456 Жыл бұрын

Hey, I want to know, Weather you ever considered using ROS2, Microros for this development. btw your project is great

@cuongnguyenuc1776 Жыл бұрын

nice vid!! Now i want to use Raspberry Pi to Image-processing so does the Pi 3 strong enough to do that?

@timkebienda1809 2 жыл бұрын

Have you tried having all the computing power from your pc, having your pc process all the inputs from the drone ?

@AnanthuSN 10 ай бұрын

This is really an interesting project, would love to recreate it. Sadly, the link to your dissertation can be reached. Is there an alternate link that you could share?

@Rani-wm1qq 2 жыл бұрын

What a story, well done. I couldn't find your research paper though

@akamatchstic 2 жыл бұрын

Thanks! I had the paper listed as “dissertation”, here’s a direct link; incendo.ws/files/dissertation-mclarke-2018.pdf

@pathfinder.george 13 күн бұрын

I lost it at 11:55 😆

@lealemtaye 2 жыл бұрын

cool

@suranjanchakraborty4833 Жыл бұрын

Brother Please Suggest me which course should I follow to make this drone.

@avichalsharma3856 2 жыл бұрын

I was just thinking about doing same stuff... using pi zero to do everything. After watching your video, I think I shall get a separate flight controller for basic functions.

@akamatchstic 2 жыл бұрын

It’s definitely the way to go I think, with a separate flight controller. Off-loading that side of control makes a major difference in the compute resources you then have access to 👍

@marie8872 Жыл бұрын

So nice - good work - please dont fly evening in bat areas

@CARLOSDGAME 9 ай бұрын

Hi bro, the dissertation link doesn't work :( I would like to read it

@abdirahmann 2 жыл бұрын

200th subscriber 😌

@akamatchstic 2 жыл бұрын

Thank you! It’s crazy to see how much the channel has grown from this one video 😊

@abdirahmann 2 жыл бұрын

@@akamatchstic i forgot to say... You editing skills are amazing. Congratulations too 🤝😊

@mazotti 2 жыл бұрын

Nice work. I never heard about this rpi hat/shield. Is available to buy? Where?

@akamatchstic 2 жыл бұрын

Unfortunately Earle Robotics who make the HAT went out of business a year or so ago - it’s not available for purchase any longer. If you’re looking to do this yourself, you probably will get better results using a PixHawk 4 and then pair it over a serial link to a Raspberry Pi etc!

@yakacm 3 ай бұрын

You got a big enough soldering iron there fella? I think that model is meant for plumbers to braze copper pipes, lol. Joking aside what a great video, I wish you lots of luck for the future.

@terryterry1655 Жыл бұрын

can i use raspberry pi 4( 2Gb). triple challenge ..build robotic arm to be a robotic barista.

@julianssonko6022 2 жыл бұрын

Hey this is awesome, one question, you used the raspberry pi as a flight controller?

@akamatchstic 2 жыл бұрын

More or less, yeah! I’m running ArduPilot under Linux on the Raspberry Pi, which sends data out to the ESCs via the PXFmini. That board also provides IMU, barometer etc data for ArduPilot.

@chrisalexthomas Жыл бұрын

what about multiple cpus for dedicated tasks instead of using one single computer to do everything?

@akamatchstic Жыл бұрын

That’s effectively what I ended up doing on the second build in this project: the camera itself has onboard hardware for neural nets which runs YOLOv4-tiny, and a Jetson Nano for control (and eventually other onboard vision processing)

@monireol Ай бұрын

❤

@luizcarlosf2 2 жыл бұрын

Mate, how about to use the new radaxa zero ? same form factor and way more powerfull !!! Good luck. I'm a subscriber now !

@akamatchstic 2 жыл бұрын

Thanks!! I'll have to check that out, wasn't aware it had been released

@creatortrainer9305 Жыл бұрын

Dear I have just a question I need to create a drone delivery short distance with autopilot but it carrying weight between 5kg and 10 kg is it possible to create like this drone ?

@akamatchstic Жыл бұрын

As long as you spec your power source and propulsion to handle that weight, that would be possible. You are definitely looking at a *much* larger drone than in this video. I’d recommend going for a 6-propeller design at minimum for that, which gives you redundancy if a motor fails during flight. You’ll likely have to design your own airframe too at the size you’ll need

@MANOJ-kv7mo Жыл бұрын

6:47 how to cope with failures 😂

@camaleon465 2 жыл бұрын

so what was the total costs at the end?

@NotgamerGOD5781 2 жыл бұрын

going to follow you for that AI drone, thanks a lot

@jaydenrareproto 2 жыл бұрын

Drones = masochism. But it seems we're both hooked!

@imadoulhou7854 Жыл бұрын

what kind of rc used? and what is the range of it! cheers

@akamatchstic Жыл бұрын

I’m using a Spektrum DX7 transmitter with a LemonRX receiver - protocol is DSM2 I think? I haven’t tested the range to be honest, so can’t give an accurate answer unfortunately for that

@mkayeka 2 жыл бұрын

Hey, is the PXF mini board really available and where can I get it?

@akamatchstic 2 жыл бұрын

Unfortunately not, the company who built it appears to now be shut down. From my experience, I would seriously recommend looking at PixHawk for a flight controller. It’s been miles better than the Pi Zero setup I used on my first drone shown in this video.

@mkayeka 2 жыл бұрын

Thank you so much! My drone journey begins.

@NyneIX9 Жыл бұрын

Did you ever figure out why Minecraft was stuffed into that OS for the PXFmini?

@akamatchstic Жыл бұрын

If I had to guess, they just took a base Raspbian image that included it, added in all the necessary packages, and simply popped it back into an ISO 😅

@dubber889 2 жыл бұрын

did you run ROS under Mavlink Mavros protocol ?

@akamatchstic 2 жыл бұрын

That’s the plan yeah. I haven’t looked much into it other than the surface level of “this thing exists”, but I aim to also tie in MAVProxy in there for ground telemetry over WiFi

@dvsmotions 2 жыл бұрын

Soooo, all you needed to do was change the color of the props and it flies perfect? I think some information was withheld.

@akamatchstic 2 жыл бұрын

Haha yes, I did gloss over this a little. The changes were; - Changed propellers - Re-calibrated the ESCs - Re-calibrated IMU and compass - Tweaked the offsets for the IMU and compass to better account for the Raspberry Pi being mounted slightly out-of-true - Dialled down the responsiveness to controller input, so that it was easier to fly - Removed a killswitch from 2018 that I added, which would cause ArduPilot to be restarted completely if connection to a ground station was lost then re-connected (mega dumb, don’t know why I added it originally) - this must have caused at least half of my “wtf” crashes

@Jimmy_Neutron Жыл бұрын

How did you control your drone ? with remote or your laptop?

@akamatchstic Жыл бұрын

In 2017 it was an Xbox 360 controller via WiFi (bad idea!), then moved to a Spektrum DX 7 transmitter and lemonRX receiver

@Jimmy_Neutron Жыл бұрын

@@akamatchstic which flight controller did you use ?

@akamatchstic Жыл бұрын

@@Jimmy_Neutron A PXFmini with a Pi Zero W - this is now discontinued. See 0:49 in the video 👍

@pantherwhisky370 2 жыл бұрын

Man i want to learn AI but but don't know where to start, Can you will guide me

@melkerforslund2130 2 жыл бұрын

"being a student i was broke" *has an apple watch*

@akamatchstic 2 жыл бұрын

Funny story actually about that. I took on a short term contract in my final year, to do some research on the heart rate sensor on the Apple Watch - this was to try and get some money coming in. The company paid for me to get a Series 3 so I could do the work!

@amazlin8271 Жыл бұрын

the dissertation link doesn't work

@akamatchstic Жыл бұрын

Should be sorted now - for some reason CloudFlare dropped the A record for my domain again 😔

@toukasnikos7219 2 жыл бұрын

Very well done..not like most of us who pay thousands euros to DJI..😂🤪

@akamatchstic 2 жыл бұрын

Aha, I think so far I’ve put about £300 into this? That’s not including the 3D printer though for some of the extra parts I added on, and doesn’t include the Jetson Nano + stereo camera I bought a few days ago!

@tariqshaw6791 Жыл бұрын

Did you worked in scooby dooby do? 🤭😂 Just asking 💀

@cvetelingeorgiev1527 10 ай бұрын

Wow, this was as if was watching a theater drama where every word and gesture is exaggerated. Me don't like. Apart from that, I'm interested in the matter being discussed.