Brussels / 3 & 4 February 2018


SITL bringup with the IIO framework

Bootstrapping a x86 based drone platform

This talk aims at an introduction to using the Industrial IO(IIO) framework to initialize sensors and acquire data to feed to a Software in the Loop(SITL) interface of drone software such as iNav/Cleanflight. Most flight controller boards are based on low power ARM microcontrollers and the flight controller software is not usually based on Linux. However, with the availability of increasingly powerful boards with onboard sensors and multicore processors, using a Linux based flight controller software can be used to our advantage. Experimenting with onboard devices and scheduling algorithms can lead to interesting applications with minimal porting overhead to new architectures.

The talk starts with a quick overview of the IIO framework and using it to initialize the drivers for the onboard sensors of the Intel Aero platform, a x86 based flight controller board. Although, not tied to the Aero board in any way, this talk will use this board as an example to describe the onboard sensors and acquire data from them to successfully run a minimal SITL instance. The talk aims to explore how the IIO framework exposes data from these sensors and how users can utilize these interfaces followed by a demo of the setup.

The presentation intends to point out that board bring-up and sensor initialization is quick with Linux so that developers can instead focus on more challenging aspects such as scheduling of tasks, power when porting to new boards/architectures.


Bandan Das