We have finally sorted out a few technical difficuties with this new Dronecode site and I am happy to kick off a Blog post about the first ever Dronecode conference held as part of the Embedded Linux Conference.
Wednesday was the big ‘unconference’ day for DroneCode. There were a number of presentations on all things related to DroneCode. Please click on the links to see the slides for the individual presentations.
- IMU Temperature Compensation – Hessel van der Molen
- Temperature compensation goals
- Calibration procedure
- PX4 VTOL Vector Control – Roman Bapst
- VTOL support in PX4 native
- High-level overview of the benefits of the new controller (submitted to IROS 2015)
- Current simulation capabilities
- System identification and infrastructure (wind tunnels)
- UAVCAN – Pavel Kirienko
- PX4 ESC codebase
- ESC developments and test state
- Future convergence of the individual CAN node codebases
- The onboard distributed system with all actuators and sensors on the same bus
- Automated 3D SITL with 3D Physics Thomas Gubler and Andreas Antener
- Simulating PX4 with ROS Gazebo – Thomas Gubler
- PX4 SITL testing – Andreas Antener.pdf
- Additional capabilities of the 3D physics simulator over standard flight simulators
- Headless and interactive benefits
- Logging and post-flight analysis
- IMU experiments and filtering strategy – Jonathan Challinger
- IMU sampling strategy
- API for accessing raw samples from PX4 IMU sensor drivers
- handling of delta angles and delta velocities
- use of filtered and unfiltered data in EKF
- IMU temperature calibration
- libraries/AP_InertialSensor/examples/coning.py
- EKF developments – Paul Riseborough
- fusing of optical flow and rangefinder data
- handling of GPS and non-GPS operation transition
- handling of height above ground estimates
- special cases for landing and takeoff
- Ardupilot VTOL – Trevor Strand and Mike Remaly
- Tiltrotor Fundamentals
- Combining The Strengths of “ArduPilot”
- Tiltrotor Challenges
- Testing
- Tiltrotor Road Map
- Travis, Jenkins and Hans – Lorenz Meier
- Travis unit testing and general CI
- Jenkins automated SITL testing with environment / physics / simulated camera views
- Hans – automated on-hardware testing
- ROS and Gazebo – Tully Foote
- ROS in general
- ROS on drones
- existing ROS use cases
- DroneAPI Structure and Usage – Kevin Hester
- structure of DroneAPI
- language bindings
- ROS vs DroneAPI – when to use them?
- licensing of core components
- future steps: stats, gcs df upload, px4 support, mavlink evolution
