Re: [Paparazzi-devel] px4 autopilot and paparazzi

[Chris Gough]

WRT Option 2) The ArduPilot port to Nuttx is a "monolithic app", I
think it just uses the Px4 object request broker (ORB) like a hardware
abstraction. It's not (yet) a suite of discrete Nuttx apps
(controllers, mixers, etc) that use the ORB as a bus, in the way the
native PX4 autopilot does. Might the paparazzi ABI branch offer a
similar way to do the same thing? I.e. create some kind of a "ORB
client" hardware abstraction for paparazzi? If so, what's the roadmap
for ABI branch?

Chris Gough

On Wed, Jan 30, 2013 at 8:09 AM, Felix Ruess <address@hidden> wrote:
> Hi,
>
> of course it's _possible_ ;-)
>
> But as Tilman pointed out this needs some work as we currently neither have
> the cortex m4 supported directly, nor nuttx/posix.
>
> Option 1: bare metal cortex m4 support
> This is something that we wanted to add for quite a while already. (e.g.
> Lisa/M 2 could just take the m4 without further hardware changes).
> While most drivers and architecture specific files from our "stm32" arch
> (currently only the F1) could probably be used without real changes, we need
> a better way to handle the possible differences. As a first step we could
> try to see where exactly the differences are and include the f4 instead of
> the f1 headers.
> Contributions welcome!
>
> Option 2: posix/nuttx support
> It might be a good option to create a rather generic "posix" arch. Since
> nuttx apparently aims to be very posix compliant a lot of stuff would
> probably run under nuttx and linux as well.
> This would also be a good step towards supporting paparazzi to run on linux
> (on a gumstix/beagleboard/raspberrypi) or on the Parrot AR Drone. There has
> already been some success regarding the latter.
> I don't know much about nuttx itself and how low level driver (e.g. SPI and
> I2C with DMA) are handled...
>
> Cheers, Felix
>
> On Tue, Jan 29, 2013 at 7:07 PM, Tilman Baumann <address@hidden> wrote:
>>
>> On 29/01/13 17:18, Luis Carlos wrote:
>>>
>>>
>>> hi everyone......its possible to porting the paparazzi code to the pk4
>>> autopilot?? in this case please help me waith instruccions for this...
>>>
>>
>> There would be two ways to do it.
>> Either bare-bone. Just port to the new hardware. (Similar or same CPU
>> AFAIK)
>>
>> But what would be really cool would be to run ppz as a application in
>> NutX. We could even get the FBW/AP split back by running in two processes.
>> Not sure if that would bring any insurmountable problems. But in any case,
>> it's far from trivial.
>> (Ardupilot has done this)
>>
>> But really, I'm just having a rainbow shining out of my arse right now. I
>> can't even contemplate the effort or required steps in any detail. I just
>> hope someone picks up the ball and runs with it.
>> I just want Paparazzi on this hardware really badly. :D
>>
>> The PX4 software is developing quite interestingly as well. I like what I
>> see, but I think it will take a very long while for that to get anywhere
>> near ppz case of features and reliability.
>> The stack looks sweet though. Could get used to that...
>>
>> Cheers
>>  Tilman
>>
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>
>
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