Quadrotor Model Implementation on Raspberry Pi Zero and Pi 4 Boards using FreeRTOS

Buyukcolak O. S., Yeniçeri R.

12th Mediterranean Conference on Embedded Computing, MECO 2023, Budva, Montenegro, 6 - 10 June 2023 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/meco58584.2023.10154999
  • City: Budva
  • Country: Montenegro
  • Keywords: FreeRTOS, quadrotor, raspberry pi, real time, simulation, uart
  • Istanbul Technical University Affiliated: Yes


In this study, a 6 degrees of freedom(DOF) quadrotor flight simulation scenario is implemented on Raspberry Pi zero and Pi 4 boards, using FreeRTOS. Main aim for this work is to define an intermediate environment, much like a test bench, so that, realizing with the real hardware is as smooth as possible. Keeping this in mind, Raspberry boards are used with FreeRTOS operating system. Quadrotor model is implemented on Pi zero as a high priority task, and similarly, controller is implemented on Pi 4 board. FreeRTOS is not officially supported for raspberry boards, therefore, operating system is ported for both boards. Communication between boards is handled using on board UART devices. Performance analysis and practicality of the proposed system is discussed.