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GY-521 (MPU 6050) based toy inertial navigation system

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LeCyberDucky/Njord

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Name:

Nordic god of seafaring

Compiling and running:

https://dev.to/h_ajsf/cross-compiling-rust-for-raspberry-pi-4iai

  1. Compile and copy executable from Windows to Raspberry Pi

In a terminal window on windows do:

cls && cargo +nightly build && scp C:\Users\<CARGO_TARGET_DIR>\armv7-unknown-linux-gnueabihf\debug\njord <PI_USERNAME>@raspberrypi.local:/home/<PROJECT_PATH>

End programs using Ctrl + C. If you use Ctrl + Z, it will only be suspended, with the process still being alive in the background. Then you can't overwrite it with scp. Use ps to see active processes, and kill -SIGKILL process_ID to kill a process, so the file can be overwritten again.

  1. On the Raspberry Pi (via ssh) do:

chmod +x njord

./njord

Copying data from the Pi to Windows:

cls && scp <PI_USERNAME>@raspberrypi.local:/home/<PROJECT_PATH>/Data/Data.yaml "C:\Users\<USERNAME>\Desktop"

Hardware

Raspberry Pi pinout

https://pinout.xyz/ https://www.etechnophiles.com/raspberry-pi-3-b-pinout-with-gpio-functions-schematic-and-specs-in-detail/

Software

Gy-521 calibration

I2C instability (error 121):

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GY-521 (MPU 6050) based toy inertial navigation system

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