GLDrone_PX4_R329

# GLPX4-R329
[Project homepage](https://www.guanglundz.com/gldrone/glpx4-r329)
## Solution description

| Category | Solution |
| :---: | :---: |
| Master control | Allwinner R329 |
| IMU | ICM-20689 ICM-20602 |
| Magnetometer | IST8310 |
| Barometer | MS5611 |
| WIFI | RTL8723DS |
| Optical flow (optional module) | PMW3901MB |
| Laser (optional module) | VL53L1X |

![GLPX4-R329.png]
[GLPX4-R329 schematic PCB open source address](https://oshwhub.com/guanglun/gldrone_px4_r329)
[BLHeli ESC schematic PCB open source address](https://oshwhub .com/guanglun/gldrone_blheli_esc)
[Linux kernel source code 5.14](https://github.com/guanglun/linux) (using `r329-gldrone` branch)
[armbian source code](https://github.com/guanglun/ gldrone-r329-armbian) (using the `r329-gldrone` branch)
[PX4 source code](https://github.com/guanglun/PX4-Autopilot) (using the `GLPX4_R329` branch `make px4_r329_default`)

Special thanks to sipeed [ MaixSense R329](https://github.com/guanglun/PX4-Autopilot) solution! The hardware design, system and kernel all refer to the [R329 solution](https://dl.sipeed.com/shareURL/MaixII/MaixII-A)!
R329: Dual-core ARM Cortex™-A53@1.5GHz, built-in DDR3 256MB

![top.png] ![bottom.png] ## Interface description
![GLPX4-R329-pinout.png]
USB camera MJPG-Streamer:
![mjpg -streamer.png]
Simultaneously run PX4 and USB camera WIFI image transmission:
![htop.png]
Real pictures:
![gl4.jpg]
### GLPX4-R329 open source PX4 flight control explanation + test flight running on Linux
[ B station video](https://www.bilibili.com/video/BV1UD4y1C7Jm)