1. 1. 3 1 App : ()
2. 2. 1. overview 2. SkyRover Nano 1.0 2.0 App 3. App 4. DIY , 5. DIY Index
3. 3. 3 3 01 overview 1) review 2) update details
4. 4. 4 3 1. overview 1) review (1) Development Environment Elements (v0.0.5) JDK v1.6.0_45 (included) Eclipse CDT + ADT (kepler SR2) Eclipse plug-in GNU tools for ARMEmbedded Processors (tool chain) v4.9 Build Tools (make, rm, echo) MultiWii Config v2.4 stm32ld command line & GUI Tool OpenCM IDE v1.0.2 arduino v1.6.4 (+skyrover lib.) zadig v2.1.2 Pre-built banaries Phone Device Requirements Android Bluetooth LE (4.3 OS later) OTG enabled device iPhone (SkyRover Nano 2.0 only) iPhone 4s later & iOS 7.1 later Connect with Bluetooth LE
5. 5. 5 3 1. overview 1) review (2) Why use eclipse? android tool () OS plug-in CVS, SVN, Git SCM . source trace, code suggetion Firmware Development Android App. Development
6. 6. 6 3 1. overview 1) review (3)
7. 7. 7 3 1. overview 1) review (4)
8. 8. 8 3 1. overview 2) update details Eclipse IDE & plug-in GNU Tools for ARM Embedded Processors MultiWii Config Zadig Update Add Eclipse IDE ADT plug-in GNU ARM plug-in , crazyradio (Windows 8 ) URL : https://wiki.bitcraze.io/doc:crazyradio:install_win dows_zadig 4.8 - 2014Q2 4.9 2015Q1 bug fixed, optimized GCC 4.9 feature. Cortex-m7 support 2.3 2.4 GPS navigate throught multiple WPs MSP message added - ACC TRIM, Cell voltage, GPS nav OpenOCD ST-LINK V2
9. 9. 3 9 02 SkyRover Nano 1.0 2.0 App 1) App UI 2) ()
10. 10. 10 3 2. SkyRover Nano 1) App UI (1) LOCK/UNLOCK
11. 11. 11 3 2. SkyRover Nano 1) App UI (2)
12. 12. 12 3 2. SkyRover Nano 1) App UI (3) SkyRover Nano 1.0 App
13. 13. 13 3 2. SkyRover Nano 1) App UI (4) Normal Mode
14. 14. 14 3 2. SkyRover Nano 1) App UI (5) check checked not checked
15. 15. 15 3 2. SkyRover Nano 2) () MultiWii Config PID App
16. 16. 16 3 2. SkyRover Nano 2) () MultiWii Config PID App
17. 17. 17 3 2. SkyRover Nano 2) () MultiWii Config PID App
18. 18. 3 18 03 App 1)
19. 19. 3 19 3. App 1) (1) SkyRover Nano 1.0 MSP (Multiwii Serial Protocol) Multiwii App SkyRover Nano 1.0 packet format preamble direction size command data CRC 0 1 2 3 4 5 + DataSize 5+DataSize+1 $ M < (Data Size) MAP Command Max 64bytes checksum SkyRover Nano 1.0 App packet format preamble direction size command data CRC 0 1 2 3 4 5 + DataSize 5+DataSize+1 $ M ! or > (Data Size) MAP Command Max 64bytes checksum
20. 20. 3 20 3. App 1) (2) SkyRover Nano 1.0 MSP_SET_RAW_RC_TINY (Roll/Yaw/Throttle AUX ) MSP_ARM MSP_DISARM MSP_TRIM_UP MSP_TRIM_DOWN MSP_TRIM_LEFT MSP_TRIM_RIGHT Index 0 0 ~ 250 Roll 1 0 ~ 250 Pitch 2 0 ~ 250 Yaw 3 0 ~ 250 Throttle 4 0 ~ 255 Aux
21. 21. 3 21 3. App 1) (3) SkyRover Nano 2.0 CRTP (Crazy RealTime Protocol) crazyfile CRTP layer Application/ports CRTP packets handling CRTP Link link driver : UART, USB, radio
22. 22. 3 22 3. App 1) (4) SkyRover Nano 2.0 7 6 5 4 3 2 1 0 Poprt Link Channel Header (1 bytes) Port : Link : Channel : Commander (15 bytes) Roll/pitch/yaw/thrust ROLL PITCH YAW THRUST (bytes) 4 4 4 3
23. 23. 3 23 04 DIY , 1) App (android) 2) App (android) 3) App (android)
24. 24. 24 3 1) App (android)4. // Build Java Perspective Git ADT AVD Intel x86 Emulator Accelerator . ( > VirtualBox > AVD)
25. 25. 25 3 4. // 2) App (android) Debugging Windows OS USB Driver USB on
26. 26. 26 3 4. // 3) App (android) apk google apk bin .apk Google (https://play.google.com/apps/publish/) (1 25$) Apk signed Application Package
27. 27. 27 3 4. // 3) App (android) Keystore ( keystore )
28. 28. 28 3 4. // 3) App (android) Signed Apk 1
29. 29. 3 29 05 DIY 1) Controller 2) Motive 3) Hardware/Software
30. 30. 30 3 5. RPI DIY Android App Bluetooth (android version 4.4) crazyradio + OTG OS ConnectPOC 1) Controller iOS Windows OSX Linux crazyfile PC client (python based) USB cable crazyradio
31. 31. 31 3 2) Motive5. RPI DIY 2000 6 (The 6th Day) NAVER movie
32. 32. 32 3 2) Motive5. RPI DIY (whispercraft) NAVER movie, Google Image Search https://www.screenused.com/?sectionID=item-detail&subsectionID=index.cfm&item_id=1680 http://www.ketzer.com/original_movie_props/6thday_helicopter_remote_control.html
33. 33. 33 3 5. RPI DIY 3) Hardware Raspberry Pi crazyradio Portable battery (2A) Joystick LCD (optional) Software raspbian crazyfile pc client Tested Joystick Logitech extream 3D pro Saitek Cyborg evo
34. 34. 34 3 5. RPI DIY 3) PyQT4 not found SD-Card image Raspbian based. 4GB Win32DiskImager cfpi-xxxx.xx.img SD Installing in an existing Raspbian sdcard command curl https://raw.githubusercontent.com/bitcraze/bitcraze-raspberry- pi/2015.3/bitcraze_raspberrypi.sh | sh PyQT4 not found $ sudo apt-get install python-qt4 URL https://wiki.bitcraze.io/projects:crazyflie:binaries:raspberrypi
35. 35. Thank you ( Q & A )