Software Design Case Study ArduPilot
Shashwat Ganesh (RA2111003011536)
ArduPilot
- World’s Most Advanced Autopilot
- Open Source
- Free to Use/Experiment/Change
- Huge Community
- Hardware Ecosystem
- ~ 70k LOC
- 600+ Contributors
- Demo?
Overview
Commands
A platform independent, vendor neutral command protocol: MAVLink
Heavily tested, critical component
Publish-Subscribe model for continuous data streams
Point-Point model for mission parameters
Programming Language independent: Several bindings available to send and receive
messages
Medium independent: Over Radio (900MHz, 2.4GHz, 5.8GHz, etc) or USB or Internet
Used for control by a more powerful on-board computer or at the GCS
Several choices for Ground Control Station (GCS) software, depending on mission
needs.
GCS GUI - Mission Planner
GCS GUI - QGroundControl
Vehicles
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All the relevant behaviour for
a vehicle type: Copter, Rover,
Boat, Submarine, Plane
Various modes for each
vehicle type, supporting
different operational
scenarios
An infinite main loop,
constantly updating the
current position and acting
according to the acceleration
and velocity commands.
Libraries
AC_AttitudeControl
AP_AdvancedFailsafe
AP_CheckFirmware
AP_FlashStorage
AP_ICEngine
AP_Math
AP_OLC
AP_RCProtocol
AP_SmartRTL
AP_WheelEncoder AC_Autorotation AP_AHRS AP_Common
AP_Follow
AP_InertialNav
APM_Control
AP_ONVIF
AP_RCTelemetry AP_Soaring AP_Winch AC_AutoTune
AP_Airspeed
AP_Compass
AP_Frsky_Telem
AP_InertialSensor AP_Menu AP_OpenDroneID AP_Relay
AP_Stats
AP_WindVane
AC_Avoidance
AP_AIS
AP_CSVReader
AP_Generator
AP_InternalError
AP_Mission AP_OpticalFlow AP_RobotisServo AP_TECS
AR_Motors
AC_CustomControl
AP_Arming
AP_CustomRotations
AP_GPS
AP_IOMCU
AP_Module
AP_OSD
AP_ROMFS
AP_TempCalibration
AR_WPNav
AC_Fence AP_Avoidance AP_DAL AP_Gripper AP_IRLock
AP_Motors AP_Parachute AP_RPM AP_TemperatureSensor
doc
AC_InputManager
AP_Baro
AP_Declination
AP_GyroFFT AP_JSButton AP_Mount AP_Param AP_RSSI
AP_Terrain
Filter
AC_PID
AP_BattMonitor
AP_Devo_Telem
AP_HAL
AP_KDECAN
AP_MSP
AP_PiccoloCAN
AP_RTC
AP_Torqeedo
GCS_MAVLink
AC_PrecLand
AP_Beacon
AP_EFI
AP_HAL_ChibiOS
AP_L1_Control AP_NavEKF AP_Proximity AP_SBusOut
AP_Tuning PID AC_Sprayer AP_BLHeli AP_ESC_Telem
AP_HAL_Empty
AP_Landing
AP_NavEKF2
AP_Radio
AP_Scheduler
AP_UAVCAN
RC_Channel
AC_WPNav
AP_BoardConfig
AP_ExternalAHRS
AP_HAL_ESP32
AP_LandingGear AP_NavEKF3 AP_Rally AP_Scripting
AP_Vehicle
SITL
AP_AccelCal
AP_Button
AP_FETtecOneWire
AP_HAL_Linux
AP_LeakDetector
AP_Navigation AP_RAMTRON AP_SerialLED AP_VideoTX
SRV_Channel
AP_ADC
AP_Camera
AP_Filesystem
AP_HAL_SITL
AP_Logger
AP_NMEA_Output
AP_RangeFinder
AP_SerialManager
AP_VisualOdom
StorageManager AP_ADSB AP_CANManager AP_FlashIface
AP_Hott_Telem AP_LTM_Telem AP_Notify AP_RCMapper
AP_ServoRelayEvents AP_Volz_Protocol
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139 Libraries
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Common functionality for all Vehicle types
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Abstract away specifics of [file-handling, scheduling,
radio communications…]
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Each type has atleast the common interface,
additional functionality exposed via
methods/functions
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Easy to debug, test and blame
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Used through aggregation and composition
HAL
Ardupilot supports a variety of Hardware Targets: Each having different
sensors/peripherals/controllers
Simulation and Testing
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Crashing drones in simulation is
cheaper than crashing real ones
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Simulation of the vehicle and I/O states
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Useful for testing edge-case situations
and failsafe mechanisms without
damaging hardware
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Allows for 3rd Party Physics and Flight
dynamics simulators
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Continuous Integration for every
change
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Hardware Integration Testing