Dronecodesoftware open source em Drones

Lucas De Marchi, IntelInternational Drone Day, 2016

Dronecode

✧ Projeto Open Source sob a Linux Foundation

✧ Controladores de voo

✧ Ground Control Station

✧ Aplicações para drones

✧ ...

Ardupilot

Ardupilot - Evolução do Hardware

Ardupilot - Evolução do Hardware

Evolução HW / SW

Flight stack

Accelerometer

Gyroscope

Barometer

Magnetometer

GPS

...

RC GCS APP Motor

Motor

Motor

Motor

...

ESC

I2C

/ SPI

UAR

T

UART / TCP / UDP

PWM

/ I2

C / C

AN

UAR

T / .

. .

Evolução HW / SW

Flight stack

Accelerometer

Gyroscope

Barometer

Magnetometer

GPS

...

RC GCS APP Motor

Motor

Motor

Motor

...

ESC

I2C

/ SPI

UAR

T

UART / TCP / UDP

Input Output

PWM

/ I2

C / C

AN

UAR

T / .

. .

Evolução HW / SW

Flight stack

Accelerometer

Gyroscope

Barometer

Magnetometer

GPS

...

RC GCS APP Motor

Motor

Motor

Motor

...

ESC

I2C

/ SPI

UAR

T

UART / TCP / UDP

Input Output

Filter EKF PID

Controllers ...

PWM

/ I2

C / C

AN

UAR

T / .

. .

Evolução HW / SW

✧ Usuário final, consumidor e profissional

✧ Algoritmos mais complexos de controle

✧ Visão Computacional

✧ Variedade de HW e fabricantes

✧ Streaming

✧ Inteligência:

✧ Dentro x Fora

Ardupilot e Linux

Ardupilot e Linux

Ardupilot e Linux

Q & A

✧ I/O restrictions

✧ RT requirements

✧ Additional tasks

Linux boards: how?

Linux boards: how?I/O restrictions

✧ External microcontroller

✧ Additional ADC / I2C / SPI

✧ RCInput / RCOutput

✧ Kernel abstraction vs userspace communication

✧ Internal microcontrollers

✧ PRU

✧ Sensor Hubs

✧ DSP

✧ FPGA

Linux boards: how?RT requirements

✧ Good drivers

✧ Offload specific tasks

✧ Offload the flight stack?

✧ May not be ideal

✧ May be too much

Demo 1

http://www.youtube.com/watch?v=AWbPX82I6VI

Linux boards: how?Additional tasks

✧ Video streaming

✧ Optical Flow

✧ Planning

✧ Mapping

✧ ...

Demo 2

http://www.youtube.com/watch?v=uHbJtMbgjH8