Programming an Autonomous 20 Foot Blimp with Python by Scott Lobdell

Transcript

1. @slobdell3 Programming an Autonomous 20 Foot Blimp with Python
2. @slobdell3 System Overview Onboard Controller Client Application
3. Autopilot Algorithm Pitch Roll Yaw @slobdell3
4. Autopilot Algorithm Pitch Roll Yaw @slobdell3
5. Autopilot Algorithm @slobdell3
6. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
7. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
8. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
9. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
10. 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
11. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
12. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
13. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
14. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
15. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
16. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3 Base Pilot Autopilot Manual Control
17. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
18. Software Architecture Controller Sensor Read Camera Read Communicator Write Communicator Read Autopilot Manual Control Motor Control GEvent Greenlets @slobdell3
19. Client @slobdell3
20. @slobdell3
21. Hardware RoBoard RB-110 XBee-PRO 802.15.4 RM-G144 Accelerometer / Compass RM-G185 Altimeter BU-353 USB GPS @slobdell3
22. @slobdell3 Testing
23. @slobdell3
24. Pitfalls • Installing Linux with custom Kernel • Initial setup of Boost • Serial Connection not so responsive • Altimeter Readings • Accounting for wind @slobdell3
25. EBlimp.com HusToKnow.blogspot.com Aericam.com @slobdell3
26. slobdell@HearsaySocial.com scottlobdell.me/2014/04/pycon-resources/ @slobdell3
27. Questions? @slobdell3