innovative drone research: bridging the gap between ...k[kc state dim]; arm matrix instance f 32...
TRANSCRIPT
Innovative Drone Research:
Bridging the Gap between
Hardware and Simulation
Simon D. Levy
Washington & Lee University
Israel Robotics Conference
9 August 2019
Part I: Hardware
Part I: Hardware
Firmware
Principle #1:
What I Cannot Build, I Do Not
Understand
R. Feynman (1918-1988)
ArduPilot: ~2,000,000 lines of code*
Cleanflight: ~850,000
Keep It Simple, Stupid!
**
view-source:https://dojofordrones.com/
Principle #2:
Cost Control
$200 $15
Principle #3:
Bottom-Up / OOP Design
https://github.com/simondlevy/Hackflight/blob/master/examples/Ladybug/DSMX/DSMX.ino
https://github.com/cleanflight/cleanflight/blob/master/src/main/flight/mixer.
c
Principle #4:
Cross-Platform Component
Reusability
Github or GTFO!
Principle #5:Separate the Drivers from the Algorithms
https://github.com/simondlevy/Hackflight/blob/master/src/board.hpp
https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core.c
https://online.husson.edu/software-development-cycle/
Principle #6:
It Always Has to Fly
https://online.husson.edu/software-development-cycle/
Principle #6:
It Always Has to Fly
STEAL TEST COMMIT
SIMPLIFY
Part II: Simulation
2016
STM32 drivers
2018
UnrealEngine4Arduino drivers Firmware
Part III: Current Work
The only thing more dangerous than
a computer scientist with a soldering
iron is an electrical engineer with a
compiler.
─ Anonymous
Final Thoughts