Re: [Paparazzi-devel] px4 autopilot and paparazzi

[Gautier Hattenberger]

Hello Chris,

ABI is now integrated into master, but stil unused. I don't know what 
are the possibilities offered by ORB objects, but the ABI mechanism 
where mainly designed to feed the filters with raw sensors values and 
thus to get rid of the handlers called by sensors event macros in main.c.
The roadmap to develop this feature is mostly a matter of finding 
someone to do it... I'm already very busy with the messages branch.
Concerning the multi-threading support, we are looking at Enac to use 
ChibiOS on stm32f4. Some independent test programs have been done, and 
we want to start the paparazzi integration next month. But the first 
option will be to run the AP code as a monolithic app, splitting the 
code will be for another day...

Gautier

Le 30/01/2013 04:30, Chris Gough a écrit :
> WRT Option 2) The ArduPilot port to Nuttx is a "monolithic app", I
> think it just uses the Px4 object request broker (ORB) like a hardware
> abstraction. It's not (yet) a suite of discrete Nuttx apps
> (controllers, mixers, etc) that use the ORB as a bus, in the way the
> native PX4 autopilot does. Might the paparazzi ABI branch offer a
> similar way to do the same thing? I.e. create some kind of a "ORB
> client" hardware abstraction for paparazzi? If so, what's the roadmap
> for ABI branch?
>
> Chris Gough
>
> On Wed, Jan 30, 2013 at 8:09 AM, Felix Ruess<address@hidden>  wrote:
> > 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
> > >
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> >
> >
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