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Urubu: Linux UAV

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Arquitectura do URUBU, um UAV autónomo de coração Linux

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  • DOWNLOAD THIS BOOKS INTO AVAILABLE FORMAT (2019 Update) ......................................................................................................................... ......................................................................................................................... Download Full PDF EBOOK here { https://soo.gd/irt2 } ......................................................................................................................... Download Full EPUB Ebook here { https://soo.gd/irt2 } ......................................................................................................................... Download Full doc Ebook here { https://soo.gd/irt2 } ......................................................................................................................... Download PDF EBOOK here { https://soo.gd/irt2 } ......................................................................................................................... Download EPUB Ebook here { https://soo.gd/irt2 } ......................................................................................................................... Download doc Ebook here { https://soo.gd/irt2 } ......................................................................................................................... ......................................................................................................................... ................................................................................................................................... eBook is an electronic version of a traditional print book THIS can be read by using a personal computer or by using an eBook reader. (An eBook reader can be a software application for use on a computer such as Microsoft's free Reader application, or a book-sized computer THIS is used solely as a reading device such as Nuvomedia's Rocket eBook.) Users can purchase an eBook on diskette or CD, but the most popular method of getting an eBook is to purchase a downloadable file of the eBook (or other reading material) from a Web site (such as Barnes and Noble) to be read from the user's computer or reading device. Generally, an eBook can be downloaded in five minutes or less ......................................................................................................................... .............. Browse by Genre Available eBooks .............................................................................................................................. Art, Biography, Business, Chick Lit, Children's, Christian, Classics, Comics, Contemporary, Cookbooks, Manga, Memoir, Music, Mystery, Non Fiction, Paranormal, Philosophy, Poetry, Psychology, Religion, Romance, Science, Science Fiction, Self Help, Suspense, Spirituality, Sports, Thriller, Travel, Young Adult, Crime, Ebooks, Fantasy, Fiction, Graphic Novels, Historical Fiction, History, Horror, Humor And Comedy, ......................................................................................................................... ......................................................................................................................... .....BEST SELLER FOR EBOOK RECOMMEND............................................................. ......................................................................................................................... Blowout: Corrupted Democracy, Rogue State Russia, and the Richest, Most Destructive Industry on Earth,-- The Ride of a Lifetime: Lessons Learned from 15 Years as CEO of the Walt Disney Company,-- Call Sign Chaos: Learning to Lead,-- StrengthsFinder 2.0,-- Stillness Is the Key,-- She Said: Breaking the Sexual Harassment Story THIS Helped Ignite a Movement,-- Atomic Habits: An Easy & Proven Way to Build Good Habits & Break Bad Ones,-- Everything Is Figureoutable,-- What It Takes: Lessons in the Pursuit of Excellence,-- Rich Dad Poor Dad: What the Rich Teach Their Kids About Money THIS the Poor and Middle Class Do Not!,-- The Total Money Makeover: Classic Edition: A Proven Plan for Financial Fitness,-- Shut Up and Listen!: Hard Business Truths THIS Will Help You Succeed, ......................................................................................................................... .........................................................................................................................
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  • DOWNLOAD THIS BOOKS INTO AVAILABLE FORMAT (2019 Update) ......................................................................................................................... ......................................................................................................................... Download Full PDF EBOOK here { https://soo.gd/irt2 } ......................................................................................................................... Download Full EPUB Ebook here { https://soo.gd/irt2 } ......................................................................................................................... Download Full doc Ebook here { https://soo.gd/irt2 } ......................................................................................................................... Download PDF EBOOK here { https://soo.gd/irt2 } ......................................................................................................................... Download EPUB Ebook here { https://soo.gd/irt2 } ......................................................................................................................... Download doc Ebook here { https://soo.gd/irt2 } ......................................................................................................................... ......................................................................................................................... ................................................................................................................................... eBook is an electronic version of a traditional print book THIS can be read by using a personal computer or by using an eBook reader. (An eBook reader can be a software application for use on a computer such as Microsoft's free Reader application, or a book-sized computer THIS is used solely as a reading device such as Nuvomedia's Rocket eBook.) Users can purchase an eBook on diskette or CD, but the most popular method of getting an eBook is to purchase a downloadable file of the eBook (or other reading material) from a Web site (such as Barnes and Noble) to be read from the user's computer or reading device. Generally, an eBook can be downloaded in five minutes or less ......................................................................................................................... .............. Browse by Genre Available eBooks .............................................................................................................................. Art, Biography, Business, Chick Lit, Children's, Christian, Classics, Comics, Contemporary, Cookbooks, Manga, Memoir, Music, Mystery, Non Fiction, Paranormal, Philosophy, Poetry, Psychology, Religion, Romance, Science, Science Fiction, Self Help, Suspense, Spirituality, Sports, Thriller, Travel, Young Adult, Crime, Ebooks, Fantasy, Fiction, Graphic Novels, Historical Fiction, History, Horror, Humor And Comedy, ......................................................................................................................... ......................................................................................................................... .....BEST SELLER FOR EBOOK RECOMMEND............................................................. ......................................................................................................................... Blowout: Corrupted Democracy, Rogue State Russia, and the Richest, Most Destructive Industry on Earth,-- The Ride of a Lifetime: Lessons Learned from 15 Years as CEO of the Walt Disney Company,-- Call Sign Chaos: Learning to Lead,-- StrengthsFinder 2.0,-- Stillness Is the Key,-- She Said: Breaking the Sexual Harassment Story THIS Helped Ignite a Movement,-- Atomic Habits: An Easy & Proven Way to Build Good Habits & Break Bad Ones,-- Everything Is Figureoutable,-- What It Takes: Lessons in the Pursuit of Excellence,-- Rich Dad Poor Dad: What the Rich Teach Their Kids About Money THIS the Poor and Middle Class Do Not!,-- The Total Money Makeover: Classic Edition: A Proven Plan for Financial Fitness,-- Shut Up and Listen!: Hard Business Truths THIS Will Help You Succeed, ......................................................................................................................... .........................................................................................................................
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Urubu: Linux UAV

  1. 1. Energia Open Source Linux UAV: Urubu terça-feira, 6 de Outubro de 2009
  2. 2. Energia Open Source Dissecação do projecto Objectivos UAV com vôo autónomo Controlo remoto, re-planning de missão em vôo, manual, por canal Telemetria + glass cockpit Requisitos AHRS: Attitude and Heading Reference System State based actuation: E = D - C Quantificador de actuação nas superfícies móveis: PID Sensores para construção da estimativa do estado Filtros para correcção de leituras dos sensores Um simulador ajuda a evitar custos duplicados (FAIL) terça-feira, 6 de Outubro de 2009
  3. 3. Energia Open Source Componentes Linux terça-feira, 6 de Outubro de 2009
  4. 4. Energia Open Source Flightdirector @ linux: Simulação X-Plane (www.x-plane.com) Funciona em Linux, Mac, Win “Free” Not a game Usado para R&D pela indústria: Cirrus, Cessna, CarterCopter Simulação aerodinâmica com qualidade Certificado para treino pela FAA Telemetria/Controlo UDP Profiling de execução flightdirector Avaliação do resultado da actuação Estabelecer limites seguros terça-feira, 6 de Outubro de 2009
  5. 5. Energia Open Source Flightdirector @ linux: Método de Simulação acquisition_sim filter_task X-Plane ahrs control navigation mission actuator_sim telemetry terça-feira, 6 de Outubro de 2009
  6. 6. Energia Open Source Groundstation link to Flightdirector terça-feira, 6 de Outubro de 2009
  7. 7. Energia Open Source Full simulation terça-feira, 6 de Outubro de 2009
  8. 8. Energia Open Source Hardware Setup terça-feira, 6 de Outubro de 2009
  9. 9. Energia Open Source Radio RX Hack Hardware não suporta geração de sinais de controlo Solução: Hack radio receiver terça-feira, 6 de Outubro de 2009
  10. 10. Energia Open Source Análise Sinal Receiver Software hack terça-feira, 6 de Outubro de 2009
  11. 11. Energia Open Source Custom Hardware Design terça-feira, 6 de Outubro de 2009
  12. 12. Energia Open Source Custom Hardware Design terça-feira, 6 de Outubro de 2009
  13. 13. Energia Open Source Dificuldades along the way PID: AAARRRRRRGGGHHGHH terça-feira, 6 de Outubro de 2009
  14. 14. Energia Open Source Dificuldades along the way Extended Kalman Filter v2.0: AAARRRRRRGGGHHGHH terça-feira, 6 de Outubro de 2009
  15. 15. Energia Open Source Linux FlightDirector Familiaridade: POSIX, glibc vs HW tied libs (avrlib) Dev Tools: arm-gcc Intervenção simplificada vs firmware Flexibilidade Packaging/upgrading trivial: OpenEmbedded / buildroot (uclibc) OpenEmbedded: Simple, yet complex (RTFM) Pacotes ipk Suporta override de configurações (make menuconfig) Gera kernel image+ fs tree ou fs image (ro) Suporta configs para boot em removable flash (req uboot) Suporta > 60 arquitecturas* terça-feira, 6 de Outubro de 2009
  16. 16. Energia Open Source OpenEmbedded Sample Build Quick Recipe: Checkout source Append source path to PATH Build ($ bitbake gumstix-basic-image) Custom Recipe: Edit menuconfig Tweak config files (packages, hardware specs) build ($ bitbake my-custom-image) terça-feira, 6 de Outubro de 2009
  17. 17. Energia Open Source OpenEmbedded Deployment Multiplos ambientes deploy: Kernel + fs image on flash Kernel on flash, fs on card/ata (w/ hw, fs drivers) Intermediate boot: stage 1 kernel on flash, kernel + fs on card, etc Colecção razoavelmente grande de software/drivers Wired/Wireless networking Audio GFX, 3D (OpenGL ES) terça-feira, 6 de Outubro de 2009
  18. 18. Energia Open Source OpenEmbedded URUBU (v1) Build conf MACHINE_FEATURES:flash, mmc, usb, i2c, spi, lcd, wifi, ethernet Modules: FEATURE_MATCH, proc/gpio, fat, ext3 Packages: busybox Script boot: uboot$ mmcinit uboot$ setenv bootargs console=ttyS0,115200n8 rootdelay=1 root=/dev/mmcblk0p2 uboot$ fatload mmc 0 a2000000 uimage uboot$ bootm a2000000 Install: $ bitbake -c gumstix-custom-basix $ cd /media/rootfs $ sudo tar -zxf $GUMSTIXOE/tmp/deploy/glibc/images/gumstix-custom-basix/Angstrom-gumstix-basic-image- glibc-ipk-2007.9-test-20090913-gumstix-custom-basix.rootfs.tar.gz $ cd $GUMSTIXOE/tmp/deploy/glibc/images $ cp uImage-2.6.21-r1-gumstix-custom-basix.bin /media/KERNEL/uImage terça-feira, 6 de Outubro de 2009
  19. 19. Energia Open Source OpenEmbedded URUBU FS Tree terça-feira, 6 de Outubro de 2009
  20. 20. Energia Open Source Check these out Electrónica Sparkfun, Analog Devices, ATMEL/Arduino, Gumstix DSP Kalman Filtering, Runge-Kutta Integration, PID, DCM, Quaternions Software OpenEmbedded, buildroot.uclibc.org, AVRlib, Arduino IDE terça-feira, 6 de Outubro de 2009
  21. 21. Energia Open Source ? terça-feira, 6 de Outubro de 2009

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