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@slobdell3 Programming an Autonomous 20 Foot Blimp with Python

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@slobdell3 System Overview Onboard Controller Client Application

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Autopilot Algorithm Pitch Roll Yaw @slobdell3

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Autopilot Algorithm Pitch Roll Yaw @slobdell3

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Autopilot Algorithm @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3 Compass GPS Accelerometer Altitude Sensor Manager

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3 Base Pilot Autopilot Manual Control

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3

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Client @slobdell3

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@slobdell3

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Hardware RoBoard RB-110 XBee-PRO 802.15.4 RM-G144 Accelerometer / Compass RM-G185 Altimeter BU-353 USB GPS @slobdell3

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@slobdell3 Testing

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@slobdell3

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Pitfalls • Installing Linux with custom Kernel • Initial setup of Boost • Serial Connection not so responsive • Altimeter Readings • Accounting for wind @slobdell3

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EBlimp.com HusToKnow.blogspot.com Aericam.com @slobdell3

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[email protected] scottlobdell.me/2014/04/pycon-resources/ @slobdell3

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Questions? @slobdell3