We use the Odroid U3 to control a quad-rotor (no microcontroller-based flight control, just plain Linux control code). As a Linux distribution on the ODROID we use Gentoo, and of course our quadrotor natively compiles all of its software (kernel, userspace)
Please have a look at our first operating prototype:
A more detailed picture with annotations is provided here:
As you can see, on top of the U3 we use the IO shield from ODROID. The U3 io shield is programmed with a simple firmware similar to FirmataC, which:
- parses PPM RC receiver signals and sends them to ttySAC0
- reads pwm outputs from the autopilot via ttySAC0 and generates the PWM signals.
Some additional electronics, including power supply, logic level converters and a I2C IMU (MPU9150 + MS5611) sensor are placed on top of the IO shield. The GPS receiver is connected via USB and we have WiFi and a Webcam connected to USB as well.
The software for controlling the UAV is called PenguPilot. It is freely available via Github here, but the documentation is in an early stage: https://github.com/PenguPilot/PenguPilot
Stay tuned for the next update (in-flight video) and do not hesitate to contact me.