Re: [Paparazzi-devel] Port airborne code to Linux

[Achim Walther]

> Is it time to start moving the paparazzi airborne code to Linux? What do
> you 

Yes and No. :-)

I cannot speak for Paparazzi here because I'm not implementing it - just signed 
up to this list to be kept updated. I've been developing a Linux based 
autopilot for the last 4 years and reached a stable traffic circuit last 
sommer. Like Marcus I'm using a Gumstix onboard computer together with an 
improved Rotomotion IMU. 

On one hand Linux has the advantage to provide an uniform and convenient 
environment for rapid prototyping. Connecting a GPS is just a "cat /dev/ttyS3" 
and connecting I2C is easy as well. Using SD cards there is lots of disk space 
for extensive logging. I am currently testing the fusion of SRTM data with 
altitude information - SRTM files for Germany take about 200 MB. Bluetooth or 
Wi-Fi provide standardized communication (think of GPS coupled directional 
antennas).

On the other hand Linux is a bit oversized just to be used for an autopilot. 
Even with loads of IMU calculations my 166 MHz Gumstix (reduced clock rate due 
to GPS interference) has a processor load not greater than 20 percent. Adding 
payload software to the system might result in timing issues so the 
out-of-the-box OS might need to be tuned into an RTOS.

Choose for yourself.

Viele Grüße, Achim.

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