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The Drone Pi
By reglisse44 (/member/reglisse44/)
in Circuits (/circuits/) > Raspberry Pi (/circuits/raspberry-pi/projects/) 627,223 1,414 359 Featured

Published Sep 16th, 2015 Download Favorite

The raspberry PI quadcopter

Watch on

(https://content
auto=webp&frame=1&fit=bounds&md=6878d63779b0c90fdbebf8ac18f4d627)
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NOTE: THIS INSTRUCTABLE IS BEING WRITTEN

This project is a quadcopter powered by a Multiwii and controlled with a Raspberry Pi 2 B. This
quadcopter has a particularity because he's using 2 differents controller and he could be pilot
with 2 differents devices : a remote control or a smartphone.

The Multiwii controller look after the 4 motors and distribute the power to supply them whereas
the Raspberry Pi collect the informations who came from the smartphone and relay them to the
Multiwii. You can also take pictures and Full HD video too !!! A Pi camera is places on the
frontground of the Drone Pi. It ca recording or just take a picture to a USB key.

The frame of this quadcopter is constituating with different recycled elements and it was
another challenge : create a quadcopter with sometimes heavy elements... But we did it !

We are some young french students and it was our first creation. We were helping during this
project with some internet website whose Instructables and now we want to share with you our
Drone Pi. Enjoy !

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Step 1: Parts

(https://content
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9 More Images

To build our quadcopter you will need the following parts :

A frame - You can buy it on the internet or you can make it like us. It's not difficult to create
your frame, you just have to make a X of approximately 0,45m of diameter (for a stable
quadcopter) and you put different levels on the center to put your Raspberry, Multiwii,
battery, ESCs, etc...

4 motors (16€) - For a quadcopter you need 4 motors but if you want to make a octocopter
you will need 8 motors as well. We are using Turnigy brushless motors. (we will come back to
the motors in the step 2) http://goo.gl/G9oE1c (http://goo.gl/G9oE1c)

4 ESCs(10€) - The electronic speed controller is using to delivery the power to the motor with
the informations of the Multiwii. We're using Hobbyking 30A ESC. http://goo.gl/2txm0b
(http://goo.gl/2txm0b)

Battery (27,5€) - Of course if you want to fly you must to supply your motors so you need a
Battery. We're using a Turnigy 3S 3300mAh. http://goo.gl/4GHr01 (http://goo.gl/4GHr01)

Battery monitor(4€) - It ring when your battery is down. We're using a Hobbyking battery
monitor 3S.

Power distribution board(4€) - This board is using to connect your ESCs to the Battery.We're
using a Hobbyking quadcopter power distribution board for quadcopter.
 http://goo.gl/0WCvB3
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Connectors 3.5mm(4,5€) - To weld the esc and the motors. http://goo.gl/byW6rg

(http://goo.gl/byW6rg)
Connectors 4.5mm (4,33€) - To remove the old distribution board connector and weld this
new. http://goo.gl/KSahYJ (http://goo.gl/KSahYJ)

Propellers(5€) - A quadcopter with some motors but whithout propellers it isn't a quadcopter
so choose your props according with your frame. For our frame of 40cm you need some props
with lenght=10 and pitch=4,5. We're using 10x4,5 SF props. http://goo.gl/4taM8k
(http://goo.gl/4taM8k)

Multiwii (49€) - This controller is using to command the motors and share the power. We're
using a CRIUS AIO PRO Multiwii.

Mounting pad(2€) - Because the motors create a lot of vibration you have to buy some
mounting pad to reduce them under the multiwii. http://goo.gl/aifflj (http://goo.gl/aifflj)

Raspberry pi 2 B(35€) - It could also run with another model of Raspberry pi but we have just
tested with this Raspi and it's more powerful than the previous version.

Pi camera(19€) - To capture video and take photo. It can be only run with a Raspberry pi

Wifi key(9€) - It connect to the Raspi and create a wifi network to relay the informations from
the smartphone app to the Raspi.

USB key - To save the video

Remote control + rc receiver - If you want to control your drone with this. You will connect the
rc receiver to the Multiwii.

You have to weld the connectors to the ESC wire, to the motors wire and to the distribution
board wire.

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Step 2: How It Works ?

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auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=a908dac585c5a91175eef1201c4c2cd8)
(https://content instructables com/ORIG/FON/2CG6/IEGXP7H8/FON2CG6IEGXP7H8 png? auto=webp&frame=1&height=1024&fit=bounds&md=248d7c8ed6a078822
(https://content instructables com/ORIG/FUS/QKJF/IEGXPOG0/FUSQKJ

The multiwii
 Multiwii
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so we can find many kind of multiwii. We use a similare version of CRIUS AIO PRO V2. This is a
flight controller: Its role is to send speed signals to the esc to hold the quadcopter in the air. We
use the mutlwii project beacause its a known project used by many users with a great
community but mostly because programs like this is too complicated for us.

The Raspberry

In our project the raspberry made the main role. First at the startup it create a private wifi
network with a DHCP server (to give IP address), this wifi network has no internet access and this
only to communicate with the smartphone. Secondly it stat a python program (created by us)
who start a websocket. A websocket is a permanent connexion between the server (raspberry)
and the client (the smartphone app), it will serv to received command from the app. Then the
same progam connects to the multiwii via USB. It will serve to send commands informations
who come from the smartphone to the multiwii ( see schema for understand). Sources are
available on github (https://github.com/reglisse44/Multiwii-raspberry-drone-server
(https://github.com/reglisse44/Multiwii-raspberry-drone-server))

The Application

The application is made in html/css/javascript with cordova. Cordova is a technology who

permit to create an application with web technology compatible with android, ios and more ...
The user think it is a standard android app but in fact this is a web view :), it's easy to develop
applications like this for web devellopers ... Sources are availlable in github
(https://github.com/reglisse44/quadcopterControl
(https://github.com/reglisse44/quadcopterControl))

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Step 3: The Frame

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5 More Images
auto=webp&frame=1&width=1024&height=1024&fit=bounds&md=a498b87aed7c92d6e4b9ed30bed456b0)
(https://content instructables com/ORIG/F4K/MTYE/IE7J5PFI/F4KMTYEIE7J5PFI jpg? (https://content
auto=webp&frame=1&fit=bounds&md=9623df0f94277996797e459ad1bd
instructables com/ORIG/FVQ/Q32G/IE7J5PBX/FVQQ32GIE7J

To make a good frame you need to use the lightest elements as you can. For our Drone Pi, we
had to build it with recycling elements so our frame is a bit heavy but anyway it doesn't matter
for our motors.

The diameter of the frame is 0,45m because we wanted a "stable quadcopter" for the camera
and not a "racing quadcopter". On the center of the X they are 3 levels (maybe 4 in the futur) to
put the controllers, the ESCs and our battery (you have all quotations in the pictures on the top
of the page).

We've created a platform to the multiwii on the top of the quadcopter(picture 2) and another to
the battery(picture 7 and 8) on the underneath of the quadcopter. For the Multiwii's platform,
we wanted to put the raspberry under the multiwii because there are some connections
 between
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it. All picture are in next step...

Finally, we put 4 feet to the quadcopter to be able to land it but they are not pretty and bad.

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Step 4: Propulsion

(https://content
auto=webp&frame=1&fit=bounds&md=e5ef165cbc77ea22d41bb0032e554fca)
instructables com/ORIG/FRB/DIO8/IEID88LG/FRBDIO8IEID88LG jpg?
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8 More Images
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instructables com/ORIG/F6O/YS2G/IEID88K0/F6OYS2GIEID88K0 jpg?

For the propulsion you need your 4 motors, your 4 ESCs (to adapt the voltage to the motors),
your battery and finally your Multiwii.

1. Connect your motors to your ESCs. You can invert the wire to invert the rotation of your
propellers (see schema to know rotation direction).To begin, DON'T put your props on the
motors to don't have any accident, the props are fragile and they could be break.
2. Connect the ESC to the distribution board (respect the color).
3. If all is ok you can install the components on the frame
4. The screw we had with the motor was too large for the propellers so we needed to enlarge
them (see pictures)

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Step 5: Flight Controller and Raspberry

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3 More Images
(https://content
auto=webp&frame=1&fit=bounds&md=248f4d2643b0b620fb842babcfc8
instructables com/ORIG/FCM/DD63/IEGXTKHU/FCMDD63IEG

Now we will install the multiwii ans the raspberry pi. 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).

1. Install the raspberry with his support

2. Put the multwii on the support with anti-vibration pad
3. Conect the ESCs to the multiwii with the dedicated pins
Next we will compile multiwii firmware into the board. To begin connect the multiwii board to
your computer via USB
 To configure
The Drone Pi by reglisse44 the multiwii:
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1. Download multiwii firmware from https://code.google.com/p/multiwii/

(https://code.google.com/p/multiwii/)
2. Download arduino software from https://www.arduino.cc/en/Main/Software
(https://www.arduino.cc/en/Main/Software)
3. Open arduino project "Multiwii.ino"
4. Change arduino board in "Tools">"Board">"Arduino Mega 2560 or Mega ADK"
5. Select the port in "Tools">"Serial Port"> And select the multiwii port.
6. Next, open file "config.h"
7. Search at the begining of the file the line: "//#define QUADX" and uncomment it (remove the
"//")
8. Search again the line "//#define CRIUS_AIO_PRO" and uncomment it.
9. All is ready, save the file and run compilation
10. Next you will need to calibrate all sensor with MultiwiiConf, I let you search tutorial on
internet.
At this moment, we don't connect the Multiwii to the Raspi so if you want to look your motors in
action before configure you raspberry pi put them on your frame, you'll need a remote control
with a rc reciever and connect the rc reciever to the Multiwii. We'll don't explain to you how to
do this but Google is your friend ;) and it's not difficult to do this. (DONT use motor with their
propellers)

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Step 6: Raspberry Pi
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Debian installation:

Install raspbian with noobs by following this tutorial: www.raspberrypi.org/help/noobs-setup/

(https://www.raspberrypi.org/help/noobs-setup/)

Launch raspi-config and enable pi-camera

IP configuration

sudo nano /etc/network/interfaces

remove all wlan0 configuration and edit to this:

allow-hotplug wlan0

iface wlan0 inet static

address 192.168.10.1

netmask 255.255.255.0

gateway 192.168.10.1

Hostapd installation:

Before begin make all update:

sudo apt-get update && sudo apt-get upgrade

Install hostapd:

sudo apt-get install hostapd

And test with minimal configuration

sudo hostapd hostapd.conf

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failed with ip error because we haven't got any DHCP server)

DHCP server installation:

Now we need yo install a DHCP server to give IP address to wifi clients.

sudo apt-get install isc-dhcp-server

Run this command to edit the file:

sudo nano /etc/dhcp/dhcpd.conf

Find the lines that say

option domain-name "example.org";

option domain-name-servers ns1.example.org, ns2.example.org;

and add "#" before them to comment them

Install usbmount

We need usbmount to mount the USB key. This is to save the video on the USB key.

sudo apt-get install usbmount

Now all usb keys must be mounted on the folder "/media/"

Install Python quadcopter program:

First install dependencies:

sudo apt-get install python-pip build-essential python-dev

sudo pip install tornado

and clone the git project

git clone https://github.com/reglisse44/Multiwii-raspberry-drone-server.git multiwiiControll

You can test the programm by launching like this:

Test this !!:

Warning: For the moment if you want to start the python program you need:

The pi-camera connected and activated in raspi-config

The multiwii board connected to a raspberry USB port as the name "ttyUSB0" (you can check
with the command "dmesg | grep tty", if your multiwii is connected with a other name change
it at the begining of the file "main.py")

Before begin reboot your pi to apply all previous installation.

Next follow these commands:

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sudo hostapd
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sudo service isc-dhcp-server restart

sudo python multiwiiControll/main.py

Explaination:

1. "-B" is to launch hostapd in background

2. After starting hostapd, the ip change (I dont know why). So we need to set it manually
3. Restart dhcp server to init it with the new wlan0 network
4. And start python script
Automations this at boot:

To launch all these command at boot we use cronjob and a sh script.

sudo crontab -e

This command open the nano editor. Write this at the end of the file:

@reboot /home/pi/multiwiiControll/autostart.sh

@reboot sudo python /home/pi/multiwiiControll/main.py &

Exit and reboot, if all is fine, all must be start on boot !

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Step 7: This Is the End !!!

If you have any questions you can post a comment and Thank you to read our instructables :)

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Runner Up in the

Raspberry Pi Contest (/contest/raspberrypi2015/)

View Contest
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Participated in the

First Time Author Contest (/contest/firsttime2015/)

View Contest

8 People Made This Project!

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RobS245 (/member/RobS245/) made it! blusurfox (/member/blusurfox/) made it!

Peredin (/member/Peredin/) made it! PhilippeD16 (/member/PhilippeD16/) made it!

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See 4 more that made it

Did you make this project? Share it with us!

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We have a be nice policy.

Please be positive and constructive.

Add Images Post

359 Comments

(/member/kenan999/) kenan999 (/member/kenan999/)
Question
a month ago


Answer
/ Upvote
How are you powering the raspberry pi? are you using the same battery you are powering multiwii and
esc?

(/member/jka5844/) jka5844 (/member/jka5844/)
Question
2 months ago
on Step 1


Answer
/ Upvote
would this work on rasbperry pi 4?

/2
(/member/aafan/) aafan (/member/aafan/)
3 years ago 
Reply
/ Upvote
how to power supply raspberry pi?

4
replies
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/1
(/member/Pavan kunche/) Pavan kunche (/member/Pavan kunche/)
a year ago
on Step 7


Reply
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Where is the code for raspberry pi to fly directions&how to control with smartphone

(/member/BulletR/) BulletR (/member/BulletR/)
Question
a year ago 
Answer
/ Upvote
I have Apm 2.8 with gps with its nt flying propely so can i add Raspberry Pi bord to fly stable fly ..?

(/member/salmanul faris/) salmanul faris (/member/salmanul faris/)
Question
2 years ago
on Step 2


Answer
/ Upvote
i am building a terrestrial+aerial drone...so i need the python code that you used in rasberry pi...also
need detailed configuration of pi connected to multiwii..

send me these as far as possible.....

/1
(/member/lok_nok/) lok_nok (/member/lok_nok/)
2 years ago 
Reply
/ Upvote
Hi their,

I'm starting a drone project using raspberry pi b+ and apm 2.8,

I am confused about how do I power the Raspberry Pi board

anyone please help !!!!!!

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(/member/daizykhanna08/) daizykhanna08 (/member/daizykhanna08/)
Question
2 years ago


Answer
/ Upvote
Can we use raspberry pi 3b+ in this

1
answer
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(/member/dronehive82/) dronehive82 (/member/dronehive82/)
2 years ago
on Introduction


Reply
/ Upvote
When will the newer prototype be out? Can't wait to see it!

/1
(/member/electricbird/) electricbird (/member/electricbird/)
Question
2 years ago


Answer
/ Upvote
Hi! I have a question.

Could a 4G/LTE usb dongle be used instead of the wifi dongle, and how?

Thank you, and great project!!

(/member/dani_california/) dani_california (/member/dani_california/)
Question
3 years ago


Answer
/ Upvote
Hi guys,
I have a question: How do I power the Raspberry? The ESCs get their power from the power
distribution board, the Multiwii from the Raspberry but how does the Raspberry itself get its power?
Thanks and best regards
D

(/member/AndreiD25/) AndreiD25 (/member/AndreiD25/)
3 years ago 
Reply
/ Upvote
Hi. Do you have any idea for a newer prototype? For example, with a Rpi v3B. Thanks !

Nani chowdary (/member/Nani chowdary/)

(/member/Nani chowdary/)
Question
3 years ago
on Step 2


Answer
/ Upvote
Can I have internet access on the server we are creating.Please inform me if we can and how to??

/1
(/member/Nani chowdary/)
Nani chowdary (/member/Nani chowdary/)
Question
3 years ago
on Step 7


Answer
/ Upvote
I want to have a altimeter sensor connected to my raspberry pi and get that information to my
thingspeak account.For that I need to have internet access for rapberry pi how can I get net access
through wifi adapter or is there any other way to get internet access over drone. PLEASE help me

(/member/MillerI1/) MillerI1 (/member/MillerI1/)
3 years ago 
Reply
/ Upvote
My 1 major criticism of this is that the PID is not configured! BTW what's PID? ;) This is of course a
joke about the comment on your video.
 1
reply
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(/member/VedantK16/) VedantK16 (/member/VedantK16/)
Question
3 years ago


Answer
/ Upvote
Instead of a remote control, i want to give commands from the pi itself. The pi will tell the drone the
direction to travel in and the distance. How can i achieve this. Can you give the inputs that i need to
give to the multiwii? To calculate distance accelerometer can be used but i need to change the yaw to
lets say 90 degrees and then move forward and stop when the pi says so. How do i do that? The
movement is only 2D movement no need to change the altitude. I am using flytOS, will the normal one
be better?

Nani chowdary (/member/Nani chowdary/)

(/member/Nani chowdary/)
Question
3 years ago
on Step 7


Answer
/ Upvote
HI,I am veerendra and for my college project I want to design a drone.I want some guidance to build
so can u please guide me??

emiel.vansteenbrugge (/member/emiel.vansteenbrugge/)

(/member/emiel.vansteenbrugge/)
3 years ago


Reply
/ Upvote
it seems that my pi can't find my usb drive

(/member/ArthurL53/) ArthurL53 (/member/ArthurL53/)
3 years ago 
Reply
/ Upvote
Hi, when I try to run /multiwiiControll/main.py, it keeps on showing;
{'record' : False, 'main_controller' : False, 'usb' : []}
Does anyone know how to fix it?

3
replies
F

(/member/mikyb1/) mikyb1 (/member/mikyb1/)
3 years ago 
Reply
/ Upvote
Hi, how did you calibrate the ESCs without a radio?

(/member/Vohn ArcherE/) Vohn ArcherE (/member/Vohn ArcherE/)
3 years ago


Reply
/ Upvote
What is the range of wifi key and maximum flight distance?

(/member/g_maurice/) g_maurice (/member/g_maurice/)
3 years ago 
Reply
/ Upvote
Was struggling with the RPI part and getting the hostapd working.
Turns out that my tp-link is of a newer version and I needed to go through a lot of effort to find the
answer. In short, a new driver needs to be installed and hostapd needs to be compiled for it.

This is what is working for me:

https://nikunjlahoti.wordpress.com/2016/09/07/run-...
(https://nikunjlahoti.wordpress.com/2016/09/07/run-your-wifi-dongle-as-access-point-soft-ap-8188eu-
on-linux/)
https://learn.adafruit.com/setting-up-a-raspberry-... (https://learn.adafruit.com/setting-up-a-raspberry-pi-
as-a-wifi-access-point/install-software)
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(/member/NicolaG1/) NicolaG1 (/member/NicolaG1/)
5 years ago 
Reply
/
Upvote

You have to download and install the .apk file on your android phone.Make sure you have selected the
option "Unknow Sources" in Settings>security .Then doenload the file or transfer it from your PC using
usb ,open the download and click INSTALL

1
reply
F

(/member/rram8/) rram8 (/member/rram8/)
3 years ago 
Reply
/ Upvote
Y don't u guys use Rpi as the flight controller

/1
(/member/ArthurL53/) ArthurL53 (/member/ArthurL53/)
Question
3 years ago

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Answer
/ Upvote
Can someone teach me how to calibrate Multiwii?

/1
(/member/ArthurL53/) ArthurL53 (/member/ArthurL53/)
Question
3 years ago

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Answer
/ Upvote
How do I calibrate the CRIUS AIOP 2.0? Can someone please help? I have been stuck on this for a
while.

(/member/shayaike/) shayaike (/member/shayaike/)
Question
3 years ago

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Answer
/ Upvote
how can i use face recognize system in respberry pi 3 for follow that presion?

(/member/shayaike/) shayaike (/member/shayaike/)
Question
3 years ago

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Answer
/ Upvote
how can i add crius multiwii se with respberry pi?

and what is the code for crius multiwii se?

(/member/edisonmoreno/) edisonmoreno (/member/edisonmoreno/)
4 years ago

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/ Upvote
1.I could not find the multiwii "CRIUS AIO PRO V2" can anyone tell me to use or pass the
hobbyking.com link?

1
reply
F

(/member/Ashary/) Ashary (/member/Ashary/)
3 years ago 
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/ Upvote
Hi! i want to control quadcopter using Pc keyboard through web.Anyone can help me?

(/member/ArthurL53/) ArthurL53 (/member/ArthurL53/)
3 years ago 
Reply
/ Upvote
 When I try to start the isc-dhcp-server I get
Hey 20210514, youan
stillerror
needcode:
to verify your account.
The Drone Pi by reglisse44 (/member/reglisse44/) Follow
Failed to start LSB: DHCP server
Download
Favorite
w I Made It

(/member/HOÀNG VŨN2/) HOÀNG VŨN2 (/member/HOÀNG VŨN2/)
3 years ago

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/ Upvote
Hi, good project.

I found many Multiwii board version. I'd like to ask below board can be applied for this project and
source code?
https://vi.aliexpress.com/item/Multi-Copter-Flight-Control-Board-w-FTDI-USB-MWC-MultiWii-SE-V2-
For-RC-Copter-UFO/1457315695.html?
spm=a2g14.search0104.3.32.6kfV9h&ws_ab_test=searchweb0_0,searchweb201602_5_10152_10065_
9612-4d5a-89f8-fea67a706ad3-5&algo_pvid=da20f9b3-9612-4d5a-89f8-
fea67a706ad3&rmStoreLevelAB=5

(/member/basicodemine/) basicodemine (/member/basicodemine/)
5 years ago

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/ Upvote
Move your left joystick to the bottom right corner! Lol that was my solution. Read comments too.
Project is finished thank you!

5
replies
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(/member/TariqulI4/) TariqulI4 (/member/TariqulI4/)
4 years ago 
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/ Upvote
Can i talk with you...if you have time

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