Flying with Linux
Channel: Linux.conf.au 2015 -- Auckland, New Zealand
Date: 16/01/2015

Andrew Tridgell
http://lca2015.linux.org.au/schedule/30229/view_talk
The port of ArduPIlot to Linux is now flying, bringing us one step closer to Linux dominating the world of small UAVs. 
Last year I presented a plan to port ArduPilot to the BeagleBoneBlack board by building a new "PXF" cape that gives the BBB a wide range of high quality sensors. That cape has now been built, and an ArduPilot port has been done. Linux on the BBB can now fly/drive a wide range of vehicles.
In this talk I will describe the architecture of the BBB port of ArduPilot, including how the PRU co-processors are used, how we interface to SPI and I2C devices and the development tools we have developed to make life a bit easier for those wanting to work on Linux based autopilots.
I will also give an update on the CanberraUAV 2014 Outback Challenge entry, and on some other current efforts to bring autopilots to more Linux based boards.