Stuff related to MAV's (and UAV's) from a hobbyist's point of view. Info

Autopilot software architecture

I’m used to working with big bloated enterprise architectures. However this is not what I wanted for my autopilot’s architecture.
The main requirents are:
1. Low computational overhead.
2. Easy to understand for the “average hobbyist”.
3. Can be relatively easy adapated for different hardware platforms.
4. Clean.

So I came up with this straightforward 2-layer architecture:

I didn’t use a middle layer to decouple the hardware layer even further from the logic layer. The main reasons for this are requirement 1 and 2, but also because I believe it is hard to predict how different hardware would be used (eg. with or without interrupts).

Open for comments!

29 February 2008, 12:03 | Link |