OPENSOURCE UAV DEVELOPMENT

BYFERİT ÇAKICI

Cost

Platforms

^$100,000,000s

$1,000,000s

$100,000s

$10,000,000s

$500s$10,000s

MINIMUM REQUIREMENTS• Power Supply (18,5V 5s LiPo, 5V BEC)• Processing Power (minimal I/O routines)• IMU (3D accelerometer, gyro, magnetometer)• GPS• Pressure (absolute and dynamic)• Range Finder (ultrasonic)• Telemetry• I/O

– Programming– Battery Monitoring– RC Radio connection (# PWM/PPM)– PWM Outputs (min. 4)– Expansions (analog and digital)

Opensource Autopilots• ArduPilot Mega (220$)

• OpenPilot (240$)

• UDB/MatrixPilot (150$)

• Paparazzi/Lisa/L (435$)

• PixHawk (350-430$)

• GluonPilot (166€)

Opensource GCS Software

HAPPYKILLMORE• MS Visual Studio• V1.2.4• Supports

• Ardupilot• MatrixPilot• GluonPilot• MAVlink

OPENPILOT GCS• Qt 4.7• V1.0.0• Supports

• OpenPilot

QGROUNDCONTROL • Qt 4.7 • V0.8.3• Supports

• ArduPilot• pxIMU• SLUGS• MatrixPilot

PAPARAZZI GCS • Linux• V3.2• Supports

• Paparazzi

Computers (for MATLAB/Simulink)• Linutop (380€)

– AMD Geode LX800 (x86) 500Mhz– 512 Mb RAM

• Xi3 (1000$)– AMD 4200+– 2 Gb RAM

• Overo OMAP35 (219$)– Arm Cortex-A8– 256 Mb RAM

• pxCOMex (~1000$)– Intel CORE 2 DUO– 2 Gb RAM

• NetBook (~400$)– Intel Atom N450– 2 Gb RAM

Solution 1OpenSource

Autopilot +OpenSource

IMU +Computer + GCS = ~ 600-2000 $

Solution 2Paparazzi / Lisa/L +Aspirin IMU +Overo OMAP35 +Paparazzi GCS = 694 $