SpaceDrone: Bringing Spacecraft Flight Software Closer to Earth

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Presentation transcript:

SpaceDrone: Bringing Spacecraft Flight Software Closer to Earth 2014-12-18 Nathaniel Parsons David Edell Bill Van Besien Skye Basir Mark Reid Christopher Krupiarz

SpaceDrone: Project Goals Demonstrate the versatility of APL’s CORE space flight software architecture via deployment on a commercial off-the-shelf UAV platform Enable a low-cost, extensible platform for maturing breakthrough space technologies and algorithms Capture the process for rapid development, software demonstration, projects Design and execute within 10 weeks

SpaceDrone: Benefits and Impacts Provide low-cost, flight-like environment for the development and evaluation of space flight technologies or algorithms Serve as a platform to raise TRL of novel technologies Build awareness of APL CORE flight software as mature and versatile framework suitable for a wide range of applications in and out of space Enhance technology demonstrations to sponsors

SpaceDrone: Quadcopter Overview Parrot AR.Drone 2.0 HD Camera, 720p 3 axis gyroscope 3 axis accelerometer 3 axis magnetometer 4 brushless inrunner motors (Optional) GPS USB recorder Pressure sensor/Ultrasound sensors for altitude measurement 60 FPS vertical QVGA camera for ground speed measurement WiFi bgn access point Android/iOS control app UDP Commanding/Telemetry API Commands: take off, land, move forward, rotate, etc

SpaceDrone: Comparison to Spacecraft Spacecraft (Leon3 UT699) SpaceDrone (RaspberryPi) 66 MHz SPARC Processor 700 MHz ARM Processor 32MB RAM 512MB RAM RTEMS or VxWorks Real-Time OS Linux (Real-time extensions available) RTEMS available L-3 InControl Ground System µMoc/Web-MOPS Ultra-lightweight ground system cFE, PSP, OSAL, and CORE APL FSW Applications

SpaceDrone: Design & Assembly Challenge: Integrate Raspberry Pi and battery onto airframe while maintaining stable flight Allow secure attachment of Pi, power source Save weight Allow stable flight

SpaceDrone: CORE FSW Overview APL CORE Flight Software - collection of reusable applications and libraries Used for satellite data systems and instruments, can be useful on any embedded system Core Flight Executive (cFE) - portable, platform independent embedded system framework developed by NASA Goddard Space Flight Center APL-Core application software is flying on Van Allen Probes, will fly on Solar Probe Plus, and leverages software flown on MESSENGER, New Horizons, and STEREO Supported platforms RAD-750 Leon3 ARM x86 x86_64

SpaceDrone: Software Diagram

SpaceDrone: New Flight Software App Drone Interface, “DI” Integrates seamlessly into CORE Provides high-level interface to quadcopter avionics Dramatically reduces network load of commanding data (enable drone ops on resource constrained links) Easy integration with existing CORE suite Autonomy and Fault Management Software Guidance, Navigation, and Control Commanding infrastructure Telemetry output, recording, playback

SpaceDrone: µMOC and Web-MOPS µMOC (“micro-MOC”) Generic, raw telemetry and command utility Reused from previous projects, with improvements Web-MOPS Graphical front-end yielding animated telemetry charts and a commanding interface Intended to mimic APL’s mission operations environment Enables operations of the drone in a way that is consistent with APL’s approach toward space mission operations

SpaceDrone: Results Current system functionality Real-time commanding and control of commercial quadcopter Real-time and historical telemetry from all systems and sensors Available functionality with entire CORE suite and configuration Autonomous, rule-macro commanding Relative and absolute time tag commanding File-based telemetry recording and CFDP-based playback System configuration via memory objects CPU and memory monitoring SpaceDrone is ready to be used as a platform for future developments in flight software