MiniBot Nanopix User manual

NANOPIX DRONE
programming in
Python
Step by step manual
for Windows users
1

1. Download and install
1.1 Download archive PythonForNanopix.zip via link:
https://www.minibot.tech/programming_tools/PythonForNanopix.zip
1.2 Download archive NanopixGroundStation.zip via link:
https://minibot.tech/programming_tools/NanopixGroundStation.zip
You can also find them on resources page:
1.3 Unpack archive
PythonForNanopix.zip
1.4 Unpack archive
NanopixGroundStation.zip and run the
installer NanopixGroundStation-x.x.exe
1.5 Download and install the tool Thonny
(or choose any other, if you prefer)
https://thonny.org/
2

2. NanopixGroundStation setup
2.1 Run installed program
NanopixGroundStation:
2.2 Plug the battery to Nanopix board and
connect your PC to Nanopix Wi-Fi network. It
will be called like this: Nanopix<number>
(default password: 12345678)
While PC is not connected
with Nanopix - you will see
“Disconnected” icon here. 3

2. NanopixGroundStation setup
2.3 After Wi-Fi initialization you will see
successfully connection icon in
NanopixGroundStation
2.4 Here you can control your NANOPIX, modify
parameters, calibrate, flash firmwares, etc.
UI elements for controlling the drone:
● Forward / backward / left / right movements and
arm/disarm motors button
● Automatic takeoff/land and altitude control
● Yaw controls and headfree checkbox
● Mission start/stop button (mission = a program
that you wrote (in Scratch or Arduino) and
flashed to NANOPIX.
For Python - please proceed the instructions
following below
4

3. Thonny IDE set up
3.1 Run the installed software Thonny and
open the file:
<the path, where the archive is
extracted>\PythonForNanopix\examples\blink.py
5
3.2 Change interpreter from default to the next:
<the path, where the archive is
extracted>\PythonForNanopix\python37\python.e
xe
1. For this choose the tab “Run” -> “Select
interpreter...”
2. In the following window choose “Locate
another python.exe...”
3. Click the button and choose the file
“...\PythonForNanopix\python37\python.exe”

4. Running the program
4.1 Make sure your PC is connected to the
Wi-Fi of the drone Nanopix <number>
(default password 12345678)
4.3 To run the script press green Play button:
6
4.2 Example from the file blink.py will make the
front LED of the drone blink:
To stop the script while it’s running press the
STOP button.
During 1-2 seconds after you press it, the
drone will start the automatic landing (if it was
in the air), independent from if there was a
program running previously.

The smartphone is losing Wifi connection with NANOPIX drone all the time
(Android 8+ frequent problem)
Before Wi-Fi connection disable next things:
1. mobile data
2. hotspot Wi-Fi point
This should fix it:
● If your smartphone loses internet-less connections, try to disable such
behavior in Wi-Fi settings.
Or / and
● Try to setup static IP for NANOPIX Wi-Fi network Nanopix<number>:
change DHCP to Static. Enter the next IP and Gateway:
○ IP address: 192.168.43.100
○ Gateway: 192.168.43.1
Troubleshooting
1. Open Wi-Fi settings and setup static
IP address:
7

Controlling the integrated RGB LEDs:
set_front_led(R: int, G: int, B: int)
set_back_led(R: int, G: int, B: int)
Sets the color value for the front/rear LED.
R, G, B - color channels with the range of values [0..255]
Usage example: ...\PythonForNanopix\examples\blink.py
Run or stop the motors:
arm_motors() - run the motors
disarm_motors() - stop the motors
Usage example: ...\PythonForNanopix\examples\arm_disarm.py
API description
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●get_roll() -> float - returns the
current roll angle in degrees
[-180, 180]
●get_pitch() -> float - returns the
current pitch angle in degrees
[-180, 180]
●get_yaw() -> float - returns the current
yaw angle in degrees
[-180, 180]
Usage example:
...\PythonForNanopix\examples\roll_led.py

Automatic takeoff and landing:
takeoff() - takes off the drone to a height of 60 centimeters
land() - automatic landing (from any height) and engines turn off
Usage example: ...\PythonForNanopix\examples\takeoff_land.py
Yaw angle control functions:
●rotate_yaw(yaw_offset_deg: int) - rotate drone by yaw (in range [-180, 180]) relative with angle speed
(in range [6, 55]). Default speed: 35 deg/sec. Positive angle ~ clockwise rotation.
●set_yaw(yaw_value_deg: int) - set absolute yaw angle in degrees (in range [-180, 180]) with angle
speed (in range [6, 55]). Default speed: 35 deg/sec.
Usage example: ...\PythonForNanopix\examples\takeoff_yaw_rotate_land.py
API description
9

Altitude control:
●offset_altitude(delta_meters: float) - - change target altitude relative (in range [-3.0, 3.0]) based on
current altitude with target speed (in range [0.1, 0.75]). Default speed: 0.2 m/s.
●set_altitude(z_pos: float) - set absolute altitude value in meters (in range [0.15, 3.0]) with target
speed (in range [0.1, 0.75]). Default speed: 0.2 m/s.
Usage example: ...\PythonForNanopix\examples\altitude_control.py
●get_pos_z() -> float - returns current altitude position in meters
Usage example: ...\PythonForNanopix\examples\altitude_led.py
API description
10

Coordinates based movement:
●offset_xy_pos(dx_meters: float, dy_meters: float) - relative movement (in range [-5.0, 5.0]) based on
current position with target speed (in range [0.1, 1.0]). Default speed: 0.4 m/s.
●set_xy_pos(x_meters: float, y_meters: float) - set absolute position in meters with target speed (in range
[0.1, 1.0]). Default speed: 0.4 m/s.
●move_forward(meters: float) - high level function, moves the drone forward (using offsetTargetPos inside)
Same simple functions: moveBackward, moveLeft, moveRight.
●get_pos_x() -> float - returns current X frame-based coordinate system position in meters
●get_pos_y() -> float - returns current Y frame-based coordinate system position in meters
Usage example: ...\PythonForNanopix\examples\one_meter_square.py
API description
11

Manual control functions (like sticks controlling):
●set_pitch(pitch_deg: int, pitch_only: bool = true) - set pitch angle in degrees in the range [-35,
35]. pitch_only option enables special mode: all other movements (roll, yaw or altitude) will be
stopped. Enabled by default.
●set_roll(roll_deg: int, roll_only: bool = true) - set roll angle in degrees in range [-35, 35].
roll_only option enables special mode: all other movements (pitch, yaw or altitude) will be stopped.
Enabled by default.
●set_yaw_speed(speed_deg_sec: float) - set yaw rotation speed (around vertical axis) in degrees/second
●set_altitude_speed(altitude_speed: float) - set vertical speed in range [-1...1]. Value -1 is
equivalent to downward movement with 30 cm/sec vertical speed. Value 1 is equivalent to upward
movement with the same vertical speed.
Usage example: ...\PythonForNanopix\examples\manual_control_square.py
API description
12
Important: these functions do not wait for the end of the maneuver (non-blocking) and are
active until another function is called. To stop movement call, for example: setYawSpeed(0);