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CSU Chico Tilt Rotor Flying Machine, (Programming and CPU, 3 of 3).

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Patrick

Fri Nov 09 2012, 09:04PM

Registered Member #2431 Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639

Pinky's Brain wrote ...

The Cubieboard is shaping up to be the best platform for A10 hacking :

Dunno when it's shipping again though. In the meantime the Beaglebone is one of the nicest development boards with a relatively powerful processor, only 36 grams too.

will either of these run a slam model?

Pinky's Brain

Fri Nov 09 2012, 09:44PM

Registered Member #2901 Joined: Thu Jun 03 2010, 01:25PM
Location:
Posts: 837

Dunno, no idea how much processing powers they tend to take ... I think GHz range microprocessors with a GB of memory should be able to handle it, but dunno.

One problem with the beaglebone is that it doesn't come with a camera interface.

Patrick

Fri Nov 09 2012, 10:14PM

Registered Member #2431 Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639

Pinky's Brain wrote ...

One problem with the beaglebone is that it doesn't come with a camera interface.

i have all that handled already (Classified, Most Secret)

i just need onboard, no communication SLAM and MDP.

Patrick

Sun Nov 11 2012, 03:25AM

Registered Member #2431 Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639

BeagleBoard appears to be the solution. ->

, just 37 grams.

Since it runs multiple versions of Linux, then the SLAM versions that are linux friendly, should be able to be compiled for this system, right?

Steve Conner

Sun Nov 11 2012, 08:08AM

Registered Member #30 Joined: Fri Feb 03 2006, 10:52AM
Location: Glasgow, Scotland
Posts: 6706

I guess, but you might want to check that your chosen Linux distro supports your processor's FPU. The Raspberry Pi's Debian Wheezy just got it recently: older versions ran emulated floating point while the hardware FPU sat around doing nothing.

Carbon_Rod

Tue Nov 13 2012, 07:59AM

Registered Member #65 Joined: Thu Feb 09 2006, 06:43AM
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Posts: 1155

The Rasberry Pi custom SSH access only kernel from Lady Ada has many of the drivers built in:

It only took a few hours to figure out the drivers and power supplies to support:
* i2c 9 DOF IMU and Altimeter/Thermometer board (ITG3205 BMA180 HMC5883L BMP085)
-postage stamp sized PCB unit placed well away from other boards
-i2c bus id flips depending on which release of the Pi used
* DHT22 (kind of intermittent at 3.3v)
* UART to Fastrax 501 GPS
-standard gpsd daemon works after removing com terminal from initab and boot params.
* 6 out of the 8 servo GPIO direct drives work if all bus ports active
-need to map around other io ports as the ko driver zeros GPIO on insmod
-can't use the analog-audio-output jack's PWM while active (it uses the DMA IRQ)
-must run "sudo rpi-update" to pull a kernel that can read this ko

I can confirm all the above peripherals are functional on Pi Model B r1 (DHT22 is a little flaky), and do not require any external parts besides the 3A 5v (Pi), 1A 3.3v LDO (sensor), and 1.5A 5v (servo test had no BEC from an ESC) regulated power supplies.

Next week:
* The $7 ebay rtl8188/rtl8192 USB micro wifi dongle will be tested soon
* SPI port, USB, and on-board 4MP camera port to be released soon
* OEM thermal-throttled-overclocking support (doubles performance in some cases)
* udptunnel is already in this armhf repository

Took 6 hours... mostly on google finding the servo/ESC drivers mknod bug fix.

Ada's Custom kernel repo has a few bugs in the wifi build...
Mostly their group just aggregates all the fringe driver projects in this kernel.

@Patrick
The over-sized system battery will chew though your weight budget faster than a few temporary "extra" bits on a PCB.

Most ROS modules are not necessary, but RPC services should work just fine.

Patrick

Wed Nov 14 2012, 04:29AM

Registered Member #2431 Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639

Carbon_Rod wrote ...

@Patrick
The over-sized system battery will chew though your weight budget faster than a few temporary "extra" bits on a PCB.

not sure what you mean here? are you reccomending the Rpi?

Carbon_Rod

Wed Nov 14 2012, 05:27AM

Registered Member #65 Joined: Thu Feb 09 2006, 06:43AM
Location:
Posts: 1155

So far, the Pi has proven trivial to integrate into a fixed wing autopilot setup (used to run on a GumStix).

The only problem I encountered was no one reminding people to check the verified hardware compatibility list for a 16GB SanDisk SDHC card etc. Just like a camera... not all cards work, and eBay is rife with con artists relabeling 2GB cards.

The battery's drain will impact flight times less if the processor intensive data interpretation is done on a ground station.

Patrick

Thu Nov 15 2012, 02:36AM

Registered Member #2431 Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639

ok Carbon Rod, what SLAM features would you say are first essential, and next desirable? is there a SLAM that runs on Rpi you know of?

Carbon_Rod

Thu Nov 15 2012, 04:03AM

Registered Member #65 Joined: Thu Feb 09 2006, 06:43AM
Location:
Posts: 1155

Your lidar thread suggests a plan to implement a solution for the bidirectional reflectance distribution function:

These cost $1700+ as they offer cm accuracy up to 6m, have minimal position noise, and relatively low data scan rates. The Pitch/Roll corrected lidar driver + 2D slam is already integrated in the discussed software packages.

Given the weight of 3D cameras like a Kinect, I am left to wonder if a practical economic alternative is available. Luckily, a fixed wing craft at 500M+ does not need to worry about walls.

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