The document discusses Dronecode, an open source software project for drones under the Linux Foundation. It covers the evolution of drone hardware and software, including components like sensors, controllers, and ground control stations. The document also addresses how drone software like Ardupilot can work on Linux boards by dealing with input/output restrictions, real-time requirements, and additional tasks through techniques such as using external microcontrollers, offloading tasks, and sensor hubs.

1. Dronecode
software open source em Drones
Lucas De Marchi, Intel
International Drone Day, 2016

2. Dronecode
✧ Projeto Open Source sob a Linux Foundation
✧ Controladores de voo
✧ Ground Control Station
✧ Aplicações para drones
✧ ...

3. Ardupilot

4. Ardupilot - Evolução do Hardware

5. Ardupilot - Evolução do Hardware

6. Evolução HW / SW
Flight stack
Accelerometer
Gyroscope
Barometer
Magnetometer
GPS
...
RC GCS APP Motor
Motor
Motor
Motor
...
ESC
I2C/SPI
UART
UART / TCP / UDP
PWM/I2C/CAN
UART/...

7. Evolução HW / SW
Flight stack
Accelerometer
Gyroscope
Barometer
Magnetometer
GPS
...
RC GCS APP Motor
Motor
Motor
Motor
...
ESC
I2C/SPI
UART
UART / TCP / UDP
Input Output
PWM/I2C/CAN
UART/...

8. Evolução HW / SW
Flight stack
Accelerometer
Gyroscope
Barometer
Magnetometer
GPS
...
RC GCS APP Motor
Motor
Motor
Motor
...
ESC
I2C/SPI
UART
UART / TCP / UDP
Input Output
Filter EKF PID
Controllers ...
PWM/I2C/CAN
UART/...

9. 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

10. Ardupilot e Linux

11. Ardupilot e Linux

12. Ardupilot e Linux

13. Q & A

14. ✧ I/O restrictions
✧ RT requirements
✧ Additional tasks
Linux boards: how?

15. 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

16. Linux boards: how?
RT requirements
✧ Good drivers
✧ Offload specific tasks
✧ Offload the flight stack?
✧ May not be ideal
✧ May be too much

17. Demo 1

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

20. Demo 2