Kernel Recipes 2015 - The Dronecode Project – A step in open source drones

1. The DroneCode Project - A Step in Open Source Drones Julien BERAUD October 5, 2015 The DroneCode Project - A Step in Open Source Drones 1 / 21

2. The DroneCode Project ”An open source, collaborative project that brings together existing and future open source drone projects under a nonproﬁt structure governed by The Linux Foundation. The result will be a common, shared open source platform for Unmanned Aerial Vehicles (UAVs).” The DroneCode Project - A Step in Open Source Drones 2 / 21

3. DroneCode Software The DroneCode Project - A Step in Open Source Drones 3 / 21

4. Parrot Drones 1/3 ▶ Parrot AR Drone ▶ Parrot 6 SoC - ARM926EJS ▶ Linux Kernel ▶ Busybox The DroneCode Project - A Step in Open Source Drones 4 / 21

5. Parrot Drones 2/3 ▶ Parrot AR Drone 2.0 ▶ TI OMAP3630 - ARM Cortex-A8 ▶ Linux Kernel ▶ Busybox The DroneCode Project - A Step in Open Source Drones 5 / 21

6. Parrot Drones 3/3 ▶ Parrot Bebop ▶ Parrot 7 SoC - Dual Cortex-A9 ▶ Linux Kernel ▶ Busybox The DroneCode Project - A Step in Open Source Drones 6 / 21

7. Drone Software ▶ Drone Software ▶ Drone OnBoard Software ▶ Computer/Smartphone/Tablet Software ▶ Cloud Software ▶ Protocols to bind them together ▶ Parrot Drones OnBoard Software ▶ Custom Proprietary Flight Stack ▶ Running entirely on Linux ▶ No PREEMPT_RT Patch ▶ Quite different from other existing drones The DroneCode Project - A Step in Open Source Drones 7 / 21

8. Drone Software ▶ Drone Software ▶ Drone OnBoard Software ▶ Computer/Smartphone/Tablet Software ▶ Cloud Software ▶ Protocols to bind them together ▶ Parrot Drones OnBoard Software ▶ Custom Proprietary Flight Stack ▶ Running entirely on Linux ▶ No PREEMPT_RT Patch ▶ Quite different from other existing drones The DroneCode Project - A Step in Open Source Drones 7 / 21

9. DroneCode OnBoard Software ▶ OnBoard Software ▶ The Flight Stack ▶ Specific to Drones ▶ 2 Flight Stacks are part of the DroneCode Project The DroneCode Project - A Step in Open Source Drones 8 / 21

10. DroneCode OnBoard Software ▶ OnBoard Software ▶ The Flight Stack ▶ Specific to Drones ▶ 2 Flight Stacks are part of the DroneCode Project The DroneCode Project - A Step in Open Source Drones 8 / 21

11. Dronecode Flight Stacks ▶ APM or Ardupilot - http://dev.ardupilot.com/ ▶ GPLv3 License ▶ First developed to run on an Arduino ▶ PX4 - https://pixhawk.org/dev/start ▶ BSD License ▶ First developed to run on an STM32 microcontroller ▶ Originally developed to run on top of NuttX RTOS The DroneCode Project - A Step in Open Source Drones 9 / 21

12. Dronecode Flight Stacks ▶ APM or Ardupilot - http://dev.ardupilot.com/ ▶ GPLv3 License ▶ First developed to run on an Arduino ▶ PX4 - https://pixhawk.org/dev/start ▶ BSD License ▶ First developed to run on an STM32 microcontroller ▶ Originally developed to run on top of NuttX RTOS The DroneCode Project - A Step in Open Source Drones 9 / 21

13. OpenSource Linux drones appearing ▶ January 2015 - Andrew Tridgell at LCA ▶ Article on LWN - https://lwn.net/Articles/630018/ ▶ Drone running Linux with the APM flight stack ▶ BeagleBone Black with Pixhawk Fire Cape ▶ Several Linux boards supported natively in APM ▶ BeagleBone with Pixhawk Fire Cape ▶ Erle Brain ▶ NavIO ▶ Qualcomm starting to work on PX4 port on Linux The DroneCode Project - A Step in Open Source Drones 10 / 21

14. Drone Architecture ▶ QuadCopter ▶ Impossible to fly entirely manually - Autopilot ▶ Sensors, user commands ▶ Motor speeds ▶ Ardupilot ▶ Reads from sensors ▶ Enhanced Kalmann Filter(EKF) ▶ Estimate the state of the Drone ▶ Sensors ▶ Inertial Measurement Unit (IMU) ▶ Barometer ▶ Compass ▶ GPS, Optical Flow Sensor, Sonar, ... ▶ External microcontroller for motor control The DroneCode Project - A Step in Open Source Drones 11 / 21

18. Parrot Bebop Architecture The DroneCode Project - A Step in Open Source Drones 12 / 21

19. APM - https://github.com/diydrones/ardupilot AP_HAL class class AP_HAL::HAL { ... AP_HAL::UARTDriver* uartA; AP_HAL::UARTDriver* uartB; AP_HAL::UARTDriver* uartC; AP_HAL::UARTDriver* uartD; AP_HAL::UARTDriver* uartE; AP_HAL::I2CDriver* i2c; AP_HAL::I2CDriver* i2c1; AP_HAL::I2CDriver* i2c2; AP_HAL::SPIDeviceManager* spi; ... }; Userland drivers hal.i2c1->write(BEBOP_BLDC_I2C_ADDR , 1, &data); The DroneCode Project - A Step in Open Source Drones 13 / 21

20. Drivers modifications ▶ Baro - MS5607 ▶ Existing driver for MS5611 ▶ Scaling factor ▶ Compass - AK8963 ▶ Existing driver for AL8963 ▶ Only as a slave device for an IMU ▶ Implement the use of a direct connection on i2c ▶ IMU ▶ MPU6050 in i2c instead of spi ▶ No PREEMPT_RT patch ▶ Jitter issues ▶ Implement the use of the MPU6050 FIFO ▶ Motor Controller ▶ New driver to write ▶ Added in AP_HAL_Linux ▶ Implements the RCOutput class ▶ GPS almost supported ▶ Add frames / Fixes The DroneCode Project - A Step in Open Source Drones 14 / 21

25. Motor Controller RCOutput_Bebop class Linux::LinuxRCOutput_Bebop : public AP_HAL::RCOutput { public: LinuxRCOutput_Bebop(); void init(void* dummy); void set_freq(uint32_t chmask, uint16_t freq_hz); uint16_t get_freq(uint8_t ch); void enable_ch(uint8_t ch); void disable_ch(uint8_t ch); void write(uint8_t ch, uint16_t period_us); void write(uint8_t ch, uint16_t* period_us, uint8_t len); uint16_t read(uint8_t ch); void read(uint16_t* period_us, uint8_t len); void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm); int read_obs_data(BebopBLDC_ObsData &data); ... The DroneCode Project - A Step in Open Source Drones 15 / 21

26. Motor Controller 2/2 set_ref_speed void LinuxRCOutput_Bebop::_set_ref_speed( uint16_t rpm[BEBOP_BLDC_MOTORS_NUM]) { struct bldc_ref_speed_data data; int i; data.cmd = BEBOP_BLDC_SETREFSPEED; for (i=0; i<BEBOP_BLDC_MOTORS_NUM; i++) data.rpm[i] = htobe16(rpm[i]); data.enable_security = 0; data.checksum = _checksum((uint8_t *) &data, sizeof(data) - 1); if (!_i2c_sem->take(0)) return; hal.i2c1->write(BEBOP_BLDC_I2C_ADDR , sizeof(data), (uint8_t *)&data); _i2c_sem->give(); } The DroneCode Project - A Step in Open Source Drones 16 / 21

27. RCInput over Wi-Fi Protocol #define RCINPUT_UDP_NUM_CHANNELS 8 #define RCINPUT_UDP_VERSION 2 struct __attribute__((packed)) rc_udp_packet { uint32_t version; uint64_t timestamp_us; uint16_t sequence; uint16_t pwms[RCINPUT_UDP_NUM_CHANNELS]; }; ▶ Basic linux utility written ▶ joystick_remote https://github.com/jberaud/joystick_remote ▶ Using linux joystick input driver ▶ Already ported on Parrot SkyController The DroneCode Project - A Step in Open Source Drones 17 / 21

28. RCInput over Wi-Fi Protocol #define RCINPUT_UDP_NUM_CHANNELS 8 #define RCINPUT_UDP_VERSION 2 struct __attribute__((packed)) rc_udp_packet { uint32_t version; uint64_t timestamp_us; uint16_t sequence; uint16_t pwms[RCINPUT_UDP_NUM_CHANNELS]; }; ▶ Basic linux utility written ▶ joystick_remote https://github.com/jberaud/joystick_remote ▶ Using linux joystick input driver ▶ Already ported on Parrot SkyController The DroneCode Project - A Step in Open Source Drones 17 / 21

29. Trying to fly ▶ First flight = crash ▶ Logging system used to understand the reason of the crash. ▶ Log files sent to one of the maintainers ▶ Log Analysis ▶ All sensor datas ▶ All interesting values ▶ Possibility to find the cause of a problem ▶ Solution found ▶ The order of the motors wasn’t right The DroneCode Project - A Step in Open Source Drones 18 / 21

33. Log Analysis ▶ Motors order ▶ Cause of the crash The DroneCode Project - A Step in Open Source Drones 19 / 21

34. Submitting patches to master ▶ Discussions with Tridge ▶ A bit of reworking ▶ Patches got accepted ▶ 1 month of work ▶ 17 patches submitted for the basic support ▶ Coming up next ▶ Wiki page for users to hack their bebop ▶ Currently missing sensor support ▶ Integration as an alternative to our flight stack ▶ Benefits ▶ Performance comparison ▶ Access to the dronecode ecosystem ▶ New piloting modes The DroneCode Project - A Step in Open Source Drones 20 / 21

38. Conclusion ▶ Useful links ▶ http://dev.ardupilot.com/ ▶ https://github.com/diydrones ▶ https://github.com/jberaud ▶ https://pixhawk.org ▶ Parrot is recruiting ▶ Linux userland and kernel developers ▶ Android Java developers ▶ iOS developers ▶ Questions ? The DroneCode Project - A Step in Open Source Drones 21 / 21

Kernel Recipes 2015 - The Dronecode Project – A step in open source drones

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Kernel Recipes 2015 - The Dronecode Project – A step in open source drones