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[DPRG] Video of Drone Contolled by BeagleBOne Black Running APM Pilot Software

Subject: [DPRG] Video of Drone Contolled by BeagleBOne Black Running APM Pilot Software
From: David Anderson davida at smu.edu
Date: Sat Feb 7 09:31:18 CST 2015

Well, I routinely refer to my helicopter is "my robot."

But that's mostly because I'm getting old and can't remember which toy 
I'm playing with.

dpa


On 02/06/2015 05:26 PM, Dennis Clark wrote:
> I prefer to not be silently complicit with media sound bites and herd 
> mentality.
>
> We, at least can do better.
>
> Can't we?
> DLC
> -- 
> Dennis Clark
> While traveling
>
> On Feb 6, 2015, at 2:50 PM, Doug Emes <dougemes at gmail.com 
> <mailto:dougemes at gmail.com>> wrote:
>
>> Queen bees, hunter seekers, pathfinders, "Bob", insert other more 
>> accurate description that media will ignore.
>>
>>
>> On Fri, Feb 6, 2015, 3:47 PM David Anderson <davida at smu.edu 
>> <mailto:davida at smu.edu>> wrote:
>>
>>     It's too late.
>>
>>
>>     On 02/06/2015 11:38 AM, Dennis Clark wrote:
>>     > Am I the only one that cringes when people call these quad and
>>     hex copters "drones?"  Can we move away from this media term with
>>     such heavy, negative military connotations?
>>     >
>>     > My rant for the day,
>>     > --
>>     > Dennis Clark
>>     > While traveling
>>     >
>>     >> On Feb 6, 2015, at 10:31 AM, ed at okerson.com
>>     <mailto:ed at okerson.com> wrote:
>>     >>
>>     >> You can download it here:
>>     >>
>>     >>
>>     http://software-dl.ti.com/codegen/non-esd/downloads/download.htm#PRU
>>     >>
>>     >> Ed Okerson
>>     >>
>>     >>> Dick,
>>     >>>
>>     >>> Good find.  Haven't watched it yet, but this phrase caught my
>>     eye:
>>     >>>
>>     >>> "There's a C compiler for the PRU."
>>     >>>
>>     >>> Any details?
>>     >>>
>>     >>> dpa
>>     >>>
>>     >>>
>>     >>>> On 02/04/2015 12:27 PM, Dick Swan wrote:
>>     >>>>
>>     >>>> This is interesting 48 minute video
>>     >>>> <https://www.youtube.com/watch?v=2Twl2mQAh6g> from the lead
>>     developer
>>     >>>> of APM Pilot. It was given at a LINUX conference. He was
>>     describing
>>     >>>> the successful results of running APM code on LINUX.
>>     >>>>
>>     >>>> Here's my comments on some topics in the talk indicating the
>>     >>>> approximate time in the video that it occurred.
>>     >>>>
>>     >>>> 4:38 Live demonstration of a drone / airplane controlled via
>>     LINUX
>>     >>>> port of APM Pilot on a BeagleBone Black (BBB). The drone was
>>     at an
>>     >>>> airfield some distance from the conference location and
>>     watched a
>>     >>>> video as it took off, flew to way points and autonomously
>>     landed.
>>     >>>> LINUX console was remotely running on the overhead screen
>>     along with a
>>     >>>> video (Skype call) of the plane.
>>     >>>>
>>     >>>> 6:38 Drone was compiling LINUX kernel at same time as
>>     flying. On the
>>     >>>> BBB the kernel compile takes 5-6 hours because of relatively
>>     "low
>>     >>>> powered" CPU) when dedicated to this task. The compile time
>>     increases
>>     >>>> when APM is also running to around 10 hours.
>>     >>>>
>>     >>>> 1,200 SPI transactions per second from IMU in this
>>     application (i.e.
>>     >>>> simultaneous  APM Pilot and Kernel compile). Elsewhere he
>>     mentions 4K
>>     >>>> SPI per second.
>>     >>>>
>>     >>>> Uses a BBB "Cape" (similar to a Arduino "Shield") to provide the
>>     >>>> navigation sensors. Several BBB Capes now exist that contain the
>>     >>>> appropriate navigation sensors (i.e GPS and IMU and
>>     barometer). For
>>     >>>> example, the successful NavIO Cape from Kickstarter; and
>>     recently
>>     >>>> announced NavIO+. Plus several more Capes from others. Most
>>     (all?)
>>     >>>> were introduced in the last year.
>>     >>>>
>>     >>>> 20:21 Uses inline waits for sending 20 byte SPI packets. Better
>>     >>>> (faster?) than DMA because DMA setup has too much overhead.
>>     >>>>
>>     >>>> 22:05 Why use "user space driver" instead of kernel drivers?
>>     Answer:
>>     >>>> Same driver source code used on LINUX as on Arduino APM!
>>     Same drivers
>>     >>>> run on different OSes! It wasn't explicit but it seemed the
>>     user space
>>     >>>> drivers were for SPI and I2C; it was unclear if the low
>>     level SPI/I2C
>>     >>>> hardware control was in kernel space.
>>     >>>>
>>     >>>> 24:00 Future will see many of the current I2C sensors (gyro,
>>     accel,
>>     >>>> compass, GPS) migrate to CAN Bus.
>>     >>>>
>>     >>>> 24:58 Describes how APM handles real-time critical threads
>>     -- they're
>>     >>>> described as LINUX "FIFO scheduled real time task" with
>>     pages locked,
>>     >>>> predefined stacks, etc for best performance. There's six
>>     critical
>>     >>>> tasks that run in APM.
>>     >>>>
>>     >>>> 27:15 Some problems with "jitter" on the long duration
>>     nominal 20
>>     >>>> millisecond loop.
>>     >>>>
>>     >>>> キ19 of 2M loops (i.e. a 11 hour run) were over 30 msec.
>>     This was the
>>     >>>> same run APM with LINUX kernel compile in background. 18 of
>>     these were
>>     >>>> under 50 msec. Easily handled by APM Pilot since all the
>>     calculations
>>     >>>> running on the 20 msec loop adjust for the actual loop time
>>     rather
>>     >>>> than assuming it is "precisely" 20 msec.
>>     >>>>
>>     >>>> キLongest time was 1.7 seconds. This is a bug. Possibly
>>     writing to SD
>>     >>>> Card with interrupts disabled and waited too long.
>>     >>>>
>>     >>>> 31:20     Two things need microsecond timing; i.e. servo
>>     pulse input
>>     >>>> and PWM servo pulse output. Solution uses the 200 MHZ simple PRU
>>     >>>> (Programmable Real-time Units) on BBB. PRUs have direct
>>     access to GPIO
>>     >>>> pins. I think PRUs are on-board the CPU chip. PRUs have
>>     shared access
>>     >>>> to the BBB memory. There's a C compiler for the PRU. Total
>>     source code
>>     >>>> for the PRUs is 300 lines.
>>     >>>>
>>     >>>> 37:00 Description of latest Outback challenge competition
>>     held Oct
>>     >>>> 2014. It's a "search and rescue" autonomous drone looking
>>     for a human
>>     >>>> (via image recognition) at an approximate GPS location 6
>>     miles away.
>>     >>>> Drone needs to fily to approximate location, search for the
>>     human and
>>     >>>> then drops a water bottle to the human. APM team won the
>>     competition.
>>     >>>> Many of the other entrants used chunks of APM code.
>>     >>>>
>>     >>>> 38:30 Picture of image recognition from Outback challenge.
>>     It looks
>>     >>>> similar to the images you see from a CMU Cam where color blob is
>>     >>>> highlighted with a rectangle overlaid on the camera image.
>>     I'm amazed
>>     >>>> at how the image recognition found a human shape from the air.
>>     >>>>
>>     >>>> Some of the new sensors drivers in development for
>>     integration with
>>     >>>> APM include.
>>     >>>>
>>     >>>> キOptical flow sensors
>>     >>>>
>>     >>>> キLaser range finding. Pointing downward for containing
>>     altitude.
>>     >>>>
>>     >>>> キUse Android quad-core (i.e. lots more CPU cycles) and then
>>     do image
>>     >>>> recognition using increased processing power.
>>     >>>>
>>     >>>>
>>     >>>>
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