Well first of all, thanks to Victor and the team at Erle Robotics for releasing the plans and software of their PXFmini. This is a real inspiration for building my own board, because all the parts are available at a cheap price and are relatively easy to assemble and interconnect using through-hole breadboard, providing you are very experienced with this type of build. Thanks to Mirko Denecke 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 https://github.com/mirkix/BBBMINI
*This is Banggood price; I had an ADAFRUIT –PWM on hand, and I really recommend going with ADAFRUIT, because of all the effort they put on making a great tutorial and drivers for this product. Note: Just like Erle , the USB WIFI, GPS and the Radio Control are excluded.
A) Hardest part: Get a RASPBERRY PI ZERO (Where is my Zero site) B) Hardware - See BOM C) Board Schematics : Erle pxfmini D) Board Software: Erle pxfmini
E) LOAD LATEST Raspbian-Jessie
Disable serial Login (Allow GPS on serial Port) Enable , I2C, SPI , Serial Disable Console = Auto Log on a shell
sudo /home/pi/ardupilot/ArduCopter/ArduCopter.elf -A udp:192.168.gcu-address:14550 -B /dev/ttyAMA0 > /home/pi/startup_log &
I) FIRST FLY LOG:
Thanks to the damping platform, the vibration level is within specs. Video is available for anyone interested..;-)
This project took about 20 hours to complete. As you can see, I really enjoyed doing some hardcore DIY to demonstrate that it is still possible to build your own flight controller from a Linux Based system. I do not recommend to try this as a first project, but if you are interested, get a BBBMINI, this is the best introduction to DIY and if you want to fly a Raspberry Pi Zero, it is much easier to buy a PXFMINI.