Hi Maikel,
What limitations do you see? Any hw/technical limitations or is this
more
concerned with availability?\
buying another board an all new hardware,
we already have all the hardware (except the failsafe rc part)
so if we are going with a paparazzi board we will need to drop all out
hardware and start over, or is there a possibility to integrate our own
modem, gps servo controller and stuff with the paparazzi boards?
Of course you can integrate your modem and GPS with paparazzi.
- Modem should be trivial (probably nothing to be done here at all as
long
as your modems can provide a transparent, serial-like, link and don't
need
any fancy in-the-air configuration).
- GPS should not be a really big deal either (although the paparazzi
NMEA
parser is not really good and nobody uses it afaik). So you would
probably
want to have a look at the parser and make sure it works always and
does not
hang up on unexpected packets. NMEA is not really nice in my (and a lot
of
other peoples) opinion anyway.... but that is not the point here of
course.
- Your servo controller you would very likely not need at all, since
that
is already directly on the paparazzi boards.
Nevertheless, personally I think it would be nice to have support to run
all the paparazzi stuff in linux userland. That being said, I don't
think
this is a very good idea in a lot of cases. (You loose tight control
over
timing, you should probably use a RT linux, etc.)
Imho it often makes more sense do do the sensor interfacing and fast
estimation/control loops directly on a dedicated board and only do
higher
level (navigation, payload, perception, etc.) on a (especially when it
is a
non-realtime) linux board.
Cheers, Felix
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