PiPlane/Drone DSHOT-MicroROS Code for the RPI2040(Pi Pico)

Checkout

After checking out this repo you must:

git submodule init 
git submodule update --init --recursive

Building in vscode

You may have to scan for kits and select a kit as shown in the Getting started with RPi Pico Instructions

Uploading to the Pi Pico

The binary is in build/piplane.uf2. You can install it by:

cp build/piplane.uf2 /media/$USER/RPI-RP2

ROS2 Integration

The Pico will expect a ROS2 topic called /motor_array Currently this is expected to be an int16_multi_array, with a length of 4. However, this could be extended for use cases with more motors. You can test this by artifically publishing in terminal:

ros2 topic pub /motor_array std_msgs/msg/Int16MultiArray "{data: [0, 0, 0, 0]}"

Note that DSHOT Expects a throttle value between 0 & 2047. It can also get a little fussy if you start with a value other than 0.