Hacking a Commercial Drone to run an Open Source Autopilot

87 Pages·2016·1.2 MB·English

Hacking a Commercial Drone to run an Open
Source Autopilot - APM on Parrot Bebop
Julien BERAUD
April 5th 2016 - Embedded Linux Conference San Diego
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Introduction
Architecture and Porting
Running Ardupilot on a Bebop 2
Optical Flow
Sonar
Monitoring real-time performances with LTTng
Conclusion
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Introduction
Introduction
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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
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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
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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
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Architecture and Porting
Architecture and Porting
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Hardware architecture
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Linux integration
▶ i2c-dev
▶ spidev
▶ UART
▶ v4l2
▶ network interface (802.11)
▶ sysfs pwm/gpio
▶ iio
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Linux integration
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