jank: broken, meaningless, ridiculously moronic, or of questionable quality

jankdrone

The jankest autonomous drone ever built and programmed from scratch. Truly insulting to drones in general.

Hacker News Thread

Photo Album

Watch Jankdrone Fly! (and crash)

Dependencies

• platformio
• Python 3
• Go
• Protobuf
  • Go
  • Python

TODO

Software

• [x] Shared memory (SHM)
• [x] Threading
• [x] Logging
• SHM message passing
  • [x] Protocol
  • [x] Server
  • [x] Serial I/O
  • [x] Bluetooth I/O (failed, signal too weak)
  • [x] Radio I/O
  • [x] Client terminal status GUI
  • [X] Client command REPL
  • [x] Handheld serial to radio map
  • [x] Handheld control desire serialization
• Flight controller (hexcopter / 2n-copter)
  • Absolute controls
    • [x] Force
    • [x] Yaw
    • [x] Pitch
    • [x] Roll
    • [ ] Altitude
    • [ ] Latitude and longitude
  • Velocity controls
    • [x] Yaw
    • [x] Pitch
    • [x] Roll
    • [ ] X and Y
    • [ ] Z (altitude)
• Thrust writer
  • [x] Basic linear writing
  • [x] Calibration
  • [ ] Force-thrust function from bollard-poll
• [x] Voltage measurement
• [x] LED strips
• [x] Deadman (kill / land in critical conditions)
• Autonomous
  • [x] Mission framework
  • [ ] Missions

Electrical

• Main board
  • [x] Teensy mount
  • [x] MPU9250 mount
  • [x] Bluefruit mount (useless now, bluetooth too weak)
  • [x] ESC plugs
  • [x] Voltage monitor wire
  • [x] LED strips
  • [x] RFM69 Radio transceiver
  • [x] ~~Altimeter mount~~ broken altimeter
• Power board
  • [x] 12V power rail
  • [x] Voltage measurement source
  • [x] 5V-regulated power for computer board
  • [x] 3.3V-regulated power for radio
• Handheld controller
  • [x] Joysticks
  • [x] Softkill switch
  • [x] Radio tranceiver

Mechanical

Drone

• Version 1 (failed, too heavy)
  • [x] PVC frame
  • [x] 4 PVC tube thrusters and mounts
  • [x] Metal sheet electronics mount
• Version 2 (failed, too heavy, thrust blockage)
  • [x] Metal sheet only frame
  • [x] 4 thrusters and mounts
  • [x] Landing posts
• Version 3
  • [x] Carbon fiber frame
  • [x] 6 thrusters and mounts
  • [x] LED strips
  • [x] Tetrahedral-ish electronics shell
  • [x] DJI Phantom-style props that don't vibrate like crazy

Handheld

• Version 1 (too cramped)
  • [x] Gutted Xbox controller for old Arduino Nano
  • [x] 2 joysticks
  • [x] Softkill toggle switch
• Version 2
  • [x] Old acryllic Raspberry Pi case
  • [x] Mounting protoboard
  • [x] 2 joysticks with embedded buttons
  • [x] Radio tranceiver
  • [x] External power and regulator