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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
Linux boards: how?Additional tasks
✧ Video streaming
✧ Optical Flow
✧ Planning
✧ Mapping
✧ ...
Demo 2