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

2. 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

3. 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

4. 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)

5. 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

6. 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

7. 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$ ~ US$ compared to $ for the PX4 FMU
PX4 has better documentation due widespread adoption.

8. 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 $ set is for sale
Proven commodity, becoming dated

9. 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

10. QGroundControl Screen
11/8/2018
QGroundControl Screen

11. 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

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

13. 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

14. 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

15. 11/8/2018
Questions?