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Communication Dans Un Congrès Année : 2022

Micro-drone autopilot architecture for efficient static scheduling


This paper presents the internal architecture of a Modifiable Off-the-Shelf open-source autopilot. We show starting from a set of functional and hardware requirements why most autopilots use as a core thread a main loop acting as a nonpreemptive static scheduler, reacting to external events, some solicited, some unsolicited (but expected). We explain how the type of bus used to communicate with the sensor impacts the nature of the events received from the sensors (solicited or not). We show that depending on the workload that a main loop iteration has to handle, the execution time of an iteration can be larger than the period, creating potential delays in the attitude correction. Finally, we explore the degrees of freedom that can be used to reduce the impact of these overloads by smoothing the periodic workload.
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Dates et versions

hal-03859380 , version 1 (13-01-2023)


  • HAL Id : hal-03859380 , version 1


Gautier Hattenberger, Fabien Bonneval, Matheus Ladeira, Emmanuel Grolleau, Yassine Ouhammou. Micro-drone autopilot architecture for efficient static scheduling. 13th International Micro Air Vehicle Conference, Sep 2022, Delft, Netherlands. pp.175--182. ⟨hal-03859380⟩
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