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From: | Vincent Breider |
Subject: | [Paparazzi-devel] Extending Paparazzi |
Date: | Fri, 5 Apr 2013 11:50:05 +0200 |
Is Paparazzi scalable to control unstable anhydral delta airframes at speeds of approx. 238 m/s?
How did the Paparazzi Design Philosophy originate? And what should I keep in mind when extending, changing or implementing a Paparazzi module or subsystem? And how does this philosophy differ from using Object Oriented programming and C++ as a language?
Is Paparazzi a hard or soft real-time system? And where in the source code can I find routines that will be executed if a deadline is not met?
The tasks are executed at a certain frequency/period is there any known limit to which they could be increased. i.e. the sensor task of 60Hz to 512Hz?
Finally I will be visiting the Dortmund Intermodellbau 2013. Will the Paparazzi Team be attending so I could chat with some of the team members in person?
Hi Vincent,
first a general remark: We (or I) prefer if questions like this are asked on the mailing list, so others can help out as well and benefit from the answers.
Also I'm a bit short on time, so it is usually less work for me ;-)
A few short answers:Is Paparazzi scalable to control unstable anhydral delta airframes at speeds of approx. 238 m/s?
That depends on which sensors, estimation algorithms and controllers you use. So in principle, yes... but I'm pretty sure it hasn't been done/tested so far.
You should also make sure thatHow did the Paparazzi Design Philosophy originate? And what should I keep in mind when extending, changing or implementing a Paparazzi module or subsystem? And how does this philosophy differ from using Object Oriented programming and C++ as a language?
This is a very broad question that I can't answer properly due to lack of time right now...Is Paparazzi a hard or soft real-time system? And where in the source code can I find routines that will be executed if a deadline is not met?
There is no real operating system or real scheduler in Paparazzi. It is all "bare metal"... Separate tasks in paparazzi are called in a cooperative manner by the very simplistic scheduler (no preemption).
There is interest in integrating ChibiOS though...The tasks are executed at a certain frequency/period is there any known limit to which they could be increased. i.e. the sensor task of 60Hz to 512Hz?
That depends on your main PERIODIC_FREQUENCY (can't be higher than that) and of course mainly on how much computation your task needs (it mustn't delay other tasks since we don't have preemption).
Finally I will be visiting the Dortmund Intermodellbau 2013. Will the Paparazzi Team be attending so I could chat with some of the team members in person?
Not that I know of.
Cheers, Felix
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