erinaceous / magpi

Code for my Quadcopter, which is using a Raspberry Pi as its brains. Includes a Python library for speaking the MultiWii Serial Protocol / MSP.

magpi

Code for my Quadcopter, which is using a Raspberry Pi as its brains. Includes a Python library for speaking the MultiWii Serial Protocol / MSP.

installing & using the multiwii library

this is handled by distutils, so simply:

sudo python setup.py install

then you can import the library into your python scripts.

this library is only responsible for generating the MultiWii serial commands -- it doesn't do any actual communication by itself. bin/multiwiid.py does do this -- it takes exclusive control of a serial device and listens on the network, by default on UDP port 5001.

If you can successfully run multiwiid, from your own code you just need to create a client socket and connect to it. By default you'll need to copy config.ini to /etc/magpi.ini on the computer connected to your flight controller.

See tools/test_arm.py and tools/test_controller.py for two examples of this; sending RC commands to the flight controller through the multiwiid server.

Otherwise, you can just use PySerial to send commands to your flight controller and read their responses.

using the other stuff

the other stuff in this repo is the scaffolding for getting an Arch-Pi linux system up and running, with wireless networking and multiwiid starting by default, plus some remote tools e.g. in tools/ for connecting the MultiWiiConf GUI to a flight controller over the network.

caveats

I massively reorganized this without testing it, and currently unable to push the latest changes from my quadcopter, so some of the external gubbins may not work! the multiwii library does, however, import successfully.