Closed vmayoral closed 10 years ago
Another interesting approach is the one available over here. Although not following our goal of development of open software/hardware autopilot named BeaglePilot for linux-based computers, we can get inspiration from there as well.
Maybe we can work on a list of requirements and backtrack from there?. These are some ideas:
Goal: development of open software/hardware autopilot named BeaglePilot for
linux-based computers
Requirements:
- ROS integrated
- Well documented
- Linux-based
I usually like working using the spiral model so i'd recommend to get some working autopilot asap and then build up prototypes from there. This is just the approach i usually take but i'm open to hear other interesting ideas.
My suggestion would be:
These are just my 2-cents. I'd be happy to discuss it.
I have some thoughts:
Thanks for your comments, we should indeed check Xenomai, RT patch and the PRU.
The guys behind ArduPilot are implementing PWM and PPM at the PRU.
I like the idea of making issues out of every task we will focus on. Let's wrap them and divide the work:
- Simple PID implementation and test in hardware.
- PWM generation using PRU
- Realtime evaluation (normal kernel, RT patch, Xenomai)
- open hardware/software ESC development
- ROS integration (ros_control)
@mitul93 on my board all sensors have drivers already however we can compile a list of tentative sensors that we would like to include and start searching/coding the drivers.
P8 and P9 are free in my boards which means that much stuff can be hooked up ;).
What are the different sensors? Are we considering replacing/modifying it with better option(s) if we can find a economical solution?
Yes, they could be replaced if better options/lower cost is found. The sensors:
Future integrations:
Refer to the README of this repository for an updated roadmap plan that includes our GSOC proposals.
In order to develop a roadmap plan we should review http://dev.ardupilot.com/wiki/building-for-beaglebone-black-on-linux/ and take as much inspiration as we can.
Let's try to write down a roadmap for the first months of 2014 while discussing about it over here.