Drone-Firefly 🚁✨

Drone-Firefly is an embedded real-time system project focused on developing and programming a drone using a Raspberry Pi and a Navio board. 🚁✨

---

🛠️ Project Overview

This project is structured into four main modules:

• Motors: Manages the control and operation of the drone's motors.
• Controller: Oversees flight dynamics and stability.
• PID: Implements Proportional-Integral-Derivative control algorithms for precise maneuvering.
• Sensors: Integrates various sensors for real-time data acquisition.

---

🔧 Technologies & Tools

• Programming Language: C++
• Hardware:
  • Raspberry Pi
  • Navio
• Libraries:
  • Navio's native libraries
  • RTIMULib for sensor data filtering using a Kalman filter
• Communication Protocol: Zenoh

---

🚀 Features

• Real-Time Embedded System: Ensures timely and deterministic responses for drone operations.
• Sensor Fusion: Utilizes Kalman filtering for accurate sensor data interpretation.
• PID Control: Provides stable and responsive flight control.
• Remote Communication: Employs Zenoh for efficient data exchange.

---

📸 Visuals

---

📝 Setup & Installation

1. Hardware Assembly:

   • Attach the Navio board to the Raspberry Pi.
   • Connect the motors and sensors as per the hardware specifications.

2. Software Configuration:

   • Clone this repository:

     git clone https://github.com/IagoPorto/Dron-Firefly.git

   • Install the necessary dependencies:

     sudo apt-get install -y rtimulib zenoh

   • Configure RTIMULib by editing the RTIMULib.ini file to match your sensor setup.

3. Compilation:

   • Navigate to the project directory:

     cd Dron-Firefly

   • Compile the code:

     make

4. Execution:

   • Run the main program:

     ./dron_firefly

---

Thank you for exploring Dron-Firefly! 🛫