Arduino Pro Mini as flight controller and receiver help!

[jock_1]

Is there anyone that can help with how to make an Arduino pro mini a receiver and flight controller. I managed to control so that the drone goes up and down using a home-built Arduino transmitter but I have no idea how to get it to go forward, backward, left, and right by tilting using a gyro-521. Any help will be very much appreciated!

My code that made it go upwards and downwards.

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>

RF24 radio(3, 2); // CE, CSN
const byte address[6] = "00001";
unsigned long lastReceiveTime = 0; 
unsigned long currentTime = 0; 
Servo esc;
Servo esc2;
Servo esc3;
Servo esc4;

// Max size of this struct is 32 bytes - NRF24L01 buffer limit
struct Received_data {
  byte j1PotX;
  byte j1PotY;
  byte j2PotX;
  byte j2PotY;
  byte pot1;
  byte pot2;
};

Received_data received_data; //Create a variable with the above structure

void setup() {
  Serial.begin(9600);
  radio.begin();
  radio.setDataRate(RF24_250KBPS);
  radio.setChannel(110); //set the channel
  radio.openReadingPipe(0, address);
  radio.setPALevel(RF24_PA_MIN);
  radio.startListening();
  esc.attach(10);
  esc2.attach(4);
  esc3.attach(5);
  esc4.attach(6);
}
void loop() {
  if (radio.available()) {
    while (radio.available()) {
      int angleV = 0; 
      radio.read(&angleV, sizeof(angleV));
      Serial.println(angleV);
      esc.write(angleV);
      esc2.write(angleV);
      esc3.write(angleV);
      esc4.write(angleV);
      }
  }
}

and the transmitter works like this.

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>

RF24 radio(5, 6); // CE, CSN
const byte address[6] = "00001";

float elapsedTime, currentTime, previousTime;

struct Data_Package {
  byte j1PotX;
  byte j1PotY;
  byte j2PotX;
  byte j2PotY;
  byte pot1;
  byte pot2;
};

Data_Package data; // Create a variable with above structure 

void setup() {
  Serial.begin(9600);
  radio.begin();
  radio.setDataRate(RF24_250KBPS);
  radio.setChannel(110); //set the channel
  radio.openWritingPipe(address);
  radio.setPALevel(RF24_PA_MIN);
  radio.stopListening();

  data.j1PotX = 127;
  data.j1PotY = 127;
  data.j2PotX = 127;
  data.j2PotY = 127;
  data.pot1 = 1;
  data.pot2 = 1;  
}

void loop() {
  data.j1PotX = map(analogRead(A1), 0, 1023, 0, 255); // Convert the analog read value from 0 to 1023 into a BYTE from 0 to 255
  data.j1PotY = map(analogRead(A0), 0, 1023, 0, 255);
  data.j2PotX = map(analogRead(A2), 0, 1023, 0, 255);
  data.j2PotY = map(analogRead(A3), 0, 1023, 0, 255);
  data.pot1 = map(analogRead(A7), 0, 1023, 0, 180);
  data.pot2 = map(analogRead(A6), 0, 1023, 0, 180);

  int potValue = analogRead(A7);
  int angleValue = map(potValue, 0, 1023, 0, 255);
  radio.write(&angleValue, sizeof(angleValue));
}

I know right now I'm not using the data package but this was just to test that I could control anything.

Thanks in advance!

[Railroader]

Why not transmit the entire record of X, Y and height each time? You only send one parameter and I suppose You use that for height control.

[jock_1]

Well right now I actually didnt use the gy-521 because I hadnt souldered it on yet I just used inputs from my transmitter to controll the power on the escs. But I need to use the gyro to fly it and control it safely but I have no idea how to do it.

[Railroader]

That is outside my comfort zone, how to combine X, Y and up/down with a gyro.
I would guess that doing some filtering, make a dead band near the joy stick center, and some calculations, scale X and Y into reasonable, safely usable numbers, should be done in the transmitter. This gives the receiver loop less work and it can control the flight.
As a start I suggest transmitting of "all" parameters, and receiving them. Then debug, verify that the data are received correctly.
Putting the new data in action is a later step.

[jock_1]

Thank you very much that is what I will do and when or if I do run into to problems I will return with a new post with a more precise question. <3

[Railroader]

Or continue this rather well presented topic....

[jock_1]

Yes

[alto777]

You state “ I managed to control so that the drone goes up and down…”

Please describe the aircraft or vehicle that you accomplished this with. I cannot interpret your claim in any way that makes it plausible.

If you just say it goes up and down and you can control that, then I will ask you to put a video of that somewhere so we can all see it!

a7

[Railroader]

@alto777
Read the code and You will see that all OP is trying is just that....