Re: [Paparazzi-devel] px4 autopilot and paparazzi

[Felix Ruess]

Hi,

of course it's _possible_ ;-)

But as Tilman pointed out this needs some work as we currently neither have the cortex m4 supported directly, nor nuttx/posix.

Option 1: bare metal cortex m4 support

This is something that we wanted to add for quite a while already. (e.g. Lisa/M 2 could just take the m4 without further hardware changes).

While most drivers and architecture specific files from our "stm32" arch (currently only the F1) could probably be used without real changes, we need a better way to handle the possible differences. As a first step we could try to see where exactly the differences are and include the f4 instead of the f1 headers.

Contributions welcome!

Option 2: posix/nuttx support

It might be a good option to create a rather generic "posix" arch. Since nuttx apparently aims to be very posix compliant a lot of stuff would probably run under nuttx and linux as well.

This would also be a good step towards supporting paparazzi to run on linux (on a gumstix/beagleboard/raspberrypi) or on the Parrot AR Drone. There has already been some success regarding the latter.

I don't know much about nuttx itself and how low level driver (e.g. SPI and I2C with DMA) are handled...

Cheers, Felix

On Tue, Jan 29, 2013 at 7:07 PM, Tilman Baumann <address@hidden> wrote:

On 29/01/13 17:18, Luis Carlos wrote:

hi everyone......its possible to porting the paparazzi code to the pk4 autopilot?? in this case please help me waith instruccions for this...

There would be two ways to do it.
Either bare-bone. Just port to the new hardware. (Similar or same CPU AFAIK)

But what would be really cool would be to run ppz as a application in NutX. We could even get the FBW/AP split back by running in two processes.
Not sure if that would bring any insurmountable problems. But in any case, it's far from trivial.
(Ardupilot has done this)

But really, I'm just having a rainbow shining out of my arse right now. I can't even contemplate the effort or required steps in any detail. I just hope someone picks up the ball and runs with it.
I just want Paparazzi on this hardware really badly. :D

The PX4 software is developing quite interestingly as well. I like what I see, but I think it will take a very long while for that to get anywhere near ppz case of features and reliability.
The stack looks sweet though. Could get used to that...

Cheers
 Tilman

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel