1. OPENSOURCE UAV DEVELOPMENT BY FERİT ÇAKICI

2. Cost Platforms ^ $100,000,000s $1,000,000s $100,000s $10,000,000s $500s $10,000s

3. MINIMUM REQUIREMENTS Power Supply (18,5V 5s LiPo, 5V BEC) Processing Power (minimal I/O routines) IMU (3D accelerometer, gyro, magnetometer) GPS Pressure (absolute and dynamic) Range Finder (ultrasonic) Telemetry I/O – Programming – Battery Monitoring – RC Radio connection (# PWM/PPM) – PWM Outputs (min. 4) – Expansions (analog and digital)

4. Opensource Autopilots ArduPilot Mega (220$) OpenPilot (240$) UDB/MatrixPilot (150$) Paparazzi/Lisa/L (435$) PixHawk (350-430$) GluonPilot (166€)

5. Opensource GCS Software HAPPYKILLMORE MS Visual Studio V1.2.4 Supports Ardupilot MatrixPilot GluonPilot MAVlink OPENPILOT GCS Qt 4.7 V1.0.0 Supports OpenPilot QGROUNDCONTROL Qt 4.7 V0.8.3 Supports ArduPilot pxIMU SLUGS MatrixPilot PAPARAZZI GCS Linux V3.2 Supports Paparazzi

6. Computers (for MATLAB/Simulink) Linutop (380€) – AMD Geode LX800 (x86) 500Mhz – 512 Mb RAM Xi3 (1000$) – AMD 4200+ – 2 Gb RAM Overo OMAP35 (219$) – Arm Cortex-A8 – 256 Mb RAM pxCOMex (~1000$) – Intel CORE 2 DUO – 2 Gb RAM NetBook (~400$) – Intel Atom N450 – 2 Gb RAM

7. Solution 1 OpenSource Autopilot + OpenSource IMU + Computer + GCS = ~ 600-2000 $

8. Solution 2 Paparazzi / Lisa/L + Aspirin IMU + Overo OMAP35 + Paparazzi GCS = 694 $