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Programming an Autonomous 20 Foot Blimp with Py...

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April 12, 2014
Programming
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Programming an Autonomous 20 Foot Blimp with Python by Scott Lobdell

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PyCon 2014

April 12, 2014
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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. [email protected] scottlobdell.me/2014/04/pycon-resources/ @slobdell3

  27. Questions? @slobdell3