Urubu Software
Suite
Groundstation
The groundstation is the human
interface to the flight platform. It encompasses sevel
subcomponents which are
Glass cockpit - Mini HUD overlays on video feed from onboard RF
(microwave) camera
Input processor - Selects full manual (RC Transmitter), USB manual
(any HID device), USB assisted (axes control airspeed, heading and
altitude instead of actuator positions), USB Channel Select Auto
(autopilot handles one of altitude, heading or position while human
controls others), full auto (waypoint navigation).
Mission planning - Simple drag'n click interface for scripting a
waypoint sequence over a georeferenced map.
This module runs exclusively on Mac OS X but i have plans to port
to Qt or wxWidgets for other platforms.
Flightcontroller
The flightcontroller is the
heart of the flight platform. It parses sensor inputs and filters
them to produce an estimate of current status, handles incoming
control packets from groundstation, processes navigation
calculations (full auto mode), creates new control packets and
forwards them to the control system (modified RC receiver).
This module runs on a Gumstix SBC which has a uCLinux OS.