Quadcopter

The quad/ directory contains all code that programs the quadcopter. This includes any C libraries we have written, any HDL to program the Zybo on the quad, and the XSDK main project that runs on the Zybo.

Brief Intro

The main quad application is located at src/quad_app/.

To run this application on the Zybo, we need to implement the hardware drivers, and provide a main function. This is done in xsdk_workspace/real_quad/src.

We can also run this application on our own laptops for testing. We call this implementation the "virtual quad". This is done in src/virt_quad.

Building

Primarily Libraries and Executables

To build the libraries and executables:

make

You can also build each library individually inside their respective project directories:

cd src/<project> && make

NOTE: All build artifacts will be placed in lib or bin (depending on whether it is a library or executable, respectively)

XSDK Project (embedded project that runs on the Zybo)

To build the XSDK project, refer to the XSDK instructions.

Testing

Automated Tests

Write tests! It makes automating things so much easier.

Run the unit and functional tests:

make test

And glad to hear you are interested in writing your own unit tests! Look at the README and examples in our simple testing library at src/test.

Manually testing the hardware interface

Of course, we cannot run automated tests on code that needs the Zybo. But we have manual tests that you can use to test each specific driver in the hardware interface.

Look in xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c for instructions. Ideally, you would run these tests from the XSDK IDE.

Sections

• The Quad Application
• Quad App on the Zybo (Real Quad)
• Quad App on Unix (Virtual Quad)
• XSDK Instructions

Other Documents

• Zybo Pinout Assignments
• How to use Xilinx software tools