A set of applications to program your quadrocopters. Contains code for the transmitter station (arduino board with A7105 chip), a server application to control your drones in the browser and execute custom code using a JavaScript API, and a node.js package for connecting to a local or remote transmitter station.

• coptermanager-arduino: arduino application which communicates with the quadrocopters
• coptermanager_server: web interface and HTTP API for controlling multiple quadrocopters
• coptermanager-client: client library to control quadrocopters with javascript (node.js)

This setup is recommended. It allows you to control multiple quadrocopters with just a single arduino board and transmitter chip. You can open the webinterface and start programming right away, inside the browser. Furthermore you can connect other apps to the HTTP API (e.g. apps for mobile devices).

It is also possible to talk directly from the client to the arduino board. The JavaScript API is identical to variant 1.

1. Follow the instructions to build the transmitter station with a small modification:

• instead of 3 wire SPI use 4 wire SPI:
• skip step 10 "Put an additional wire from the 'SDIO' pin of the A7105 to the 'MISO' pin of the due."
• instead wire 'gio1' of the A7105 chip to the 'MISO' port of the arduino due
• test some resistor values (as written in the tutorial) - mine didn't work with 22K Ohm, but it works with 10K Ohm

2. Open the source code of this project and send it to your arduino board

(Note: the floppy cable isn't required - I didn't have any male-to-female cables for the SPI port of the arduino due so I had to improvise...)

coptermanager-arduino listens on the serial port for new commands. The protocol is very simple: each command contains 3 bytes - copterid, command and value. The response is always a one byte.

> 0x00 0x01 0x01 # bind a hubsan x4
< 0x01           # assigned copterid is 0x01
> 0x01 0x02 0x0F # set throttle of copter #1 to 0x0F
< 0x00           # success
> 0x01 0x06 0x00 # set of copter #1 off
< 0x00           # success
> 0x01 0x0B 0x00 # disconnect copter #1
< 0x00           # success

In this session > indicates a request and < the response. The protocol is binary: spaces are just for readability, and values must be transmitted as their value and not as ASCII strings.

In config.h there are 2 debug modes available: DEBUG and SERIAL_ASCII. The first one enables debug messages and the last one enables write and read operations as ASCII strings. With SERIAL_ASCII turned on the requests are in the format AABBCC where AA is the copterid, BB the command and CC the command value in hexadecimal format with ASCII characters (don't prefix them with 0x!). Example request: 000101 (transmitted as ASCII characters, e.g. wrote in the arduino IDE's serial monitor, with no line ending) to bind the hubsan.