Using linux throughout the complete UAV stack Koen Kooi - - PowerPoint PPT Presentation

using linux throughout the complete uav stack
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Using linux throughout the complete UAV stack Koen Kooi - - PowerPoint PPT Presentation

Using linux throughout the complete UAV stack Koen Kooi <koen.kooi@linaro.org> ELC-E 2014, Dusseldorf something about dronecode.org announcement Basics of RC planes Show http://www.stormthecastle.com/model-


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Using linux throughout the complete UAV stack

Koen Kooi <koen.kooi@linaro.org> ELC-E 2014, Dusseldorf

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something about dronecode.org announcement

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Basics of RC planes

Show http://www.stormthecastle.com/model- airplanes/basics-of-controls-of-an-rc-airplane. htm in browser

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Receivers

Show http://orangerx.com/2014/01/25/r400- spektrumjr-dsm2-compatible-4ch-2-4ghz- receiver/ in browser

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http://orangerx.com/2014/01/25/r400-spektrumjr-dsm2-compatible-4ch-2-4ghz-receiver/

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Remote controls

Show http://www.open-tx.org/radios.html in browser

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Telemetry

  • Battery state
  • Radio link state
  • Raw sensor data
  • Position
  • Processed sensor data
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Atmega based flightcontrollers

  • Needed for multirotors
  • Have I²C, SPI and UARTs
  • Different firmwares

○ multiwii ○ ardupilot

  • ~50Hz control loop
  • “multi core” solutions for GPS

support

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Config tools

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Cortex-M based flightcontrollers

  • 32 bit
  • single precision floating point
  • >40MHz clock speed
  • More IO options
  • ~400Hz control loop
  • Multiple firmwares

○ baseflight (multiwii port) ○ taulabs ○ ardupilot

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Hybrids

  • Taulabs freedom

○ gumstix overo COM ○ cortex-M on baseboard ○ http://buildandcrash.blogspot.nl/2014/03/vertical- control.html

  • Flexbot + Arietta G25

○ AT91 ARM9 on COM ○ AT32u4 on flighcontroller ○ didn’t make it to ELC-E :(

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Hybrids

  • Quadcopter at the Intel booth
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Hybrids

  • Linux and FC communicate over (USB)

serial

  • Mainly for telemetry logging
  • Computer Vision
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Running linux on the flightcontroller

  • ‘hard’ realtime
  • userspace drivers
  • Only one real effort:

○ ardupilot

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Groundstations

  • qgroundcontrol (mavlink)
  • taulabs ground (taulabs)
  • Other, closed sourced ones
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Middleware

  • Mavconn
  • Mavproxy
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Mavlink example

Flexbot + arietta G25 minnowboard + webcam FRI2 running mavproxy Laptop running QGC arduino + sama5d3-xplained

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QGC demo