ArduPilot Project

This project intends to port ArduPilot firmware on new hardware base on embedded Linux multiple-core system and ESP32. The main purpose of this project is to extend Modular design & hardware abstract layer base on processing and task.

• ESP32 is double core processor with mature RTOS firmware. One core dedicated for IMU data fusing and main autopilot function (Stabilize, Attitude control, Navigation) other core responsible for communication, auxiliary module management and ground station. its 2.4 Ghz wifi link is sitable for local data link between drone and ground station
• separate IO module, manage pilot commands and drone actuators data for main core system and it only exchange data on bus line in standard communication protocol (I2C, SPI, Serial), this reduce processor resources and complexity of main code, because each part is responsible for processing its own data (hardware encapsulation).IO module can be made with any designed hardware and software base on drone specification and just need to put data on TX buffer and received command from RX buffer. In this project I use same IC in Ardupilot hardware (STM32f103C8T6). Primary hardware design located at here
• Multiple-core embedded Linux system is auxiliary core system which can provide secondary & backup IMU data, GPS data, advance terrain navigation , 4G video streaming and any hardware management for enhancing drone capabilities. Similar to IO module this also has its own development platform base on popular Linux
  following is the block diagram and functional modules chart for this project

Project Motivation

This idea came to mind when I intent to add camera on Ardupilot hardware and establish the video link under 4G network. SimCom 7100 & 7600 were first choice as I was familiar with Arduino GPRS shield made of SimCom product and are cheap , however after digging around those product I’ve noticed the only available firmware (AT Command) is not mature enough to add camera and work as slave supplementary hardware for Ardupilot master board . Unfortunately SimCom has not provided yet any open SDK for IoT developer , hence I look to the other 4G modules in market such as Telit , InnoCom, Gemalto, Multitech, Sierra Wireless, Quectel I found Airprime WPx5xx-76xx series very Promising and elegant. while Airprime series has powerful and rich hardware with multi core, it also embedded with Linux and open source SDK for IoT developer summary of this product specification come as follow The AirPrime WP75xx/AirPrime WP8548 is a powerful multiple-core system that includes:

• One QDSP6 core, embedding Telecom firmware with integrated cellular voice (future firmware release), data and wireless Internet connectivity

• One Cortex-A5 core entirely dedicated to customer application and natively provided with Linux operating system The application processor memory is dedicated to the Legato platform, including:

  • Linux kernel
  • Root file system
  • Application framework
  • Customer applications

• Memory Details WP75xx / WP8548 Flash Total 512 MB -256 MB Reserved for Application processor

• RAM Total 256 MB -128 MB Reserved for Application processor

Milestone

• Hardware Design:
  • 4G board: base on Airprime
  • ESP32 board:
  • Input board:
  • Output board:
• Hardware prototype:
• Firmware porting:
• Test & debug:

License

This project is licensed under the GNU General Public License, version 3.