At the recent LCA'2014 conference in Perth I gave a couple of talks about research projects I'm working on with ardupilot. These show a couple of the things that we are working towards with APM.
The first is a talk on differential GPS which is part of a collaboration between Ben Nizette at ANU and myself.
Video:
https://www.youtube.com/watch?v=sl8aJlG52PE
Slides: http://uav.tridgell.net/LCA2014/dgps.pdf
The second talk is about the research project to run ardupilot directly on embedded Linux boards, which opens up some really interesting possibilities for APM:
Video:
https://www.youtube.com/watch?v=ealH3qP_pBE
Slides: http://uav.tridgell.net/LCA2014/AP_Linux.pdf
These projects are really just a small part of what we are working on, but I thought a few people might be interested in them.
Cheers, Tridge
Comments
Hi Tridge,
have you checked out the gumstix overo line yet.. and is your source archive for APM on linux available on github yet for others to play with??(gumstix owners fer instance :)
The cosmic+ module that tim references above is also fascinating.
Reaon for my interest in gumstix is because of both global shutter cam boards and sensors with external lensing availalble for same(say for glyph base navigation(hmm 10 ft on a side QR codes?)) and the navstik.org people have a direct plugin interface to the gumstix overo line...
They also run NUTTX and APM and have proven willing to put the crypto variant of the ARM4 chip on the FC board.
just something to think about
Great presentation Tridge.
Regarding the from a Linux perspective, troublesome usec signal (PWM) range. If you have constant >1 usec variation in a servo PWM signal this would no longer be considered signal jitter, and instead become servo chatter. With servo chatter the servo motor is constantly moving back and forth, leading to excessive drain and worst case servo motor/driver burnouts. A hardware driven PWM signal (commercial receiver) typically will have jitter in the <10ns range.
Freescale is incorporating ARM A5 Cortex and ARM M4 Cortex in one chip to help address some of the issues of general OS and realtime integration. Board: http://www.phytec.com/products/single-board-computers/Chip: http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=VF6xx
Also, here is an interesting read: http://lwn.net/Articles/572740/
very excited with all this new things coming up...I have learned a lot by watching this conference. thanks a lot
Excellent talk! Really got the gears spinning...
Awesome!
I did not bored any second of the presentation port to linux it was awsome. Thanks.
Great talk Tridge!
Very interesting and educational. Just learnt a lot!
Thanks!
I enjoyed the talks Tridge, thanks! Can become very interesting for direct georeferencing of images taken from a UAV if IMU precision enhances!
I know I am setting up a Vtail fixed wing platform today and I am just working through the wiki step by step and so far I have not found a missing step. I should add I am talking to the platform using a 3DR radio set that Tridge was responsible for. That had me thinking just how hard it was back when we first started using xbees and you had to fiddle and faff for days to get them to work.
From me as well thanks so much to all involved it really is top banana. I wonder what it will look like in five years time.
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