Table Of Content

Hacking a Commercial Drone to run an Open Source Autopilot - APM on Parrot Bebop Julien BERAUD April 5th 2016 - Embedded Linux Conference San Diego HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop1/87 Introduction Architecture and Porting Running Ardupilot on a Bebop 2 Optical Flow Sonar Monitoring real-time performances with LTTng Conclusion HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop2/87 Introduction Introduction HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop3/87 Parrot Bebop ▶ 410g ▶ Parrot P7 SoC (dual Cortex A9) ▶ IMU, Barometer, Compass, Vertical Camera, Sonar, GPS ▶ Linux kernel 3.4 (no mainline support) ▶ Front camera with fish-eye lens HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop4/87 Parrot Bebop 2 ▶ 500g ▶ Parrot P7 SoC (dual Cortex A9) ▶ IMU, Barometer, Compass, Vertical Camera, Sonar, GPS ▶ Linux kernel 3.4 (no mainline support) ▶ Front camera with fish-eye lens HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop5/87 What is an autopilot ? ▶ Quad-Copters are just too difficult for humans to handle ▶ They need software to be controlled properly ▶ Autopilot software ▶ Inputs : sensors (IMU, Compass, Baro, Sonar, Cameras, ...) ▶ Inputs : user commands ▶ Outputs : Propeller speeds HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop6/87 Architecture and Porting Architecture and Porting HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop7/87 Hardware architecture HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop8/87 Linux integration ▶ i2c-dev ▶ spidev ▶ UART ▶ v4l2 ▶ network interface (802.11) ▶ sysfs pwm/gpio ▶ iio HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop9/87 Linux integration HackingaCommercialDronetorunanOpenSourceAutopilot-APMonParrotBebop10/87

Description:

MPU6050 (1/3). ▷ Driver for MPU6000 over spi. ▷ Timer at 1kHz to read datas (1 sample per ms). ▷ Works over spi with PREEMPT_RT patch. ▷ I2c bus too slow. ▷ No PREEMPT_RT patch on the Bebop. ▷ Some samples are missed. Hacking a Commercial Drone to run an Open Source Autopilot

APM on Parrot Bebop PDF

87 Pages·2016·1.2 MB·English

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About APM on Parrot Bebop

MPU6050 (1/3). ▷ Driver for MPU6000 over spi. ▷ Timer at 1kHz to read datas (1 sample per ms). ▷ Works over spi with PREEMPT_RT patch. ▷ I2c bus too slow. ▷ No PREEMPT_RT patch on the Bebop. ▷ Some samples are missed. Hacking a Commercial Drone to run an Open Source Autopilot

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Author:	Unknown
Publication Year:	2016
Pages:	87
Language:	English
File Size:	1.2
Format:	PDF
Price:	FREE

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