Carson Labrado and Jacob Travis 11/8/2018 PX4Fmu Autopilot Carson Labrado and Jacob Travis

Learning Objectives Hardware Specs Software Applications Part Numbers 11/8/2018 Learning Objectives Hardware Specs Part Numbers Sensors Bus speeds Software Toolchain Coding Standards Software diagram Applications Research Projects Competitions Hobbyist Aircraft

Hardware Specs: FMU Flight Management Unit 11/8/2018 Hardware Specs: FMU Flight Management Unit The PX4 (Part Number PX4FMU) STM32F4 processor 192 Kbs RAM 168 MHz Clock 2 Gyroscopes, 1 Accelerometer, 1 Magnetometer, 1 Barometer 2x I2C, 4x UART, 1 SPI, 1 CAN Open Source, SD Card for logging

Hardware Specs: Sensors Gyro, Mag, Acc 11/8/2018 Hardware Specs: Sensors Gyro, Mag, Acc MPU-6000 Gyroscope detects up to 2000°/s Accelerometer detects up to 16g L3GD20 HMC5883L 160Hz Output Rate, 1°-2° Heading Accuracy MS5611 Resolution 10cm, detects down to 10mbar (~105,000 ft)

Software - General Firmware Nuttx Eclipse Juno as IDE 11/8/2018 Software - General Firmware Active community – Good Documentation Open-Source (Git) Nuttx Flexible, configurable, and small RTOS Unix and ANSI compliant 250Hz inner loop Eclipse Juno as IDE Editing code is convenient Cross Platform – Open Source

Software – Design Goal Primary Goals Audience Low-Cost 11/8/2018 Software – Design Goal Primary Goals Low-Cost High Performance High Availability (Common Parts) Audience Hobby Research (Heavy Emphasis) Industrial

Comparison: Open-Pilot Revo 11/8/2018 Comparison: Open-Pilot Revo Processor Both STM32F4 192 KB RAM compared to 256 KB. No backup processor Other Hardware Built in telemetry modem Same sensor set Misc. A$129.95 ~ US$117.18 compared to $149.99 for the PX4 FMU PX4 has better documentation due widespread adoption.

Comparison: Ardu-Copter 11/8/2018 Comparison: Ardu-Copter Processor 8 bit ATmega2560 compared to 32 bit STM32F4 8 KB RAM compared to 256 KB for the PX4 No backup processor Other Hardware Same sensor set Misc. Apparently only $239.98 set is for sale Proven commodity, becoming dated

Ground Software: QGroundControl 11/8/2018 Ground Software: QGroundControl QGroundControl Based on PIXHAWK’s Groundstation Windows, MacOS, and Linux support Direct access to MAVLink variables Multi-MAV support

QGroundControl Screen 11/8/2018 QGroundControl Screen

Ground Software: APM Mission Planner 11/8/2018 Ground Software: APM Mission Planner Mission Planner Designed for APM by Michael Oborne Windows only User friendly interface Better stability than QGroundControl

APM Mission Plan. Screen 11/8/2018 APM Mission Plan. Screen

Projects: Skye What is it? Applications Design 11/8/2018 Projects: Skye What is it? Spherical, Omnidirectional Blimp Disney Applications Security Inspection Design Low Power, High Endurance Agile and Stable Extremely Safe

Project: Cheetah What is it? Applications Design Autonomous Quadrotor 11/8/2018 Project: Cheetah What is it? Autonomous Quadrotor Result of Pixhawk Project Applications Indoor autonomous navigation Pattern Detection Design Stereo Camera Onboard Linux Computer “t” configuration

11/8/2018 Questions?