UAV.Net Framework

The last 2 years if been working on a robotics framework for c# / .net.

I am using it for my UAV project. It uses a Pandaboard running ubuntu server linux, a razor imu and the mini maestro as the output. I think it is an interessting idea to develop an UAV Controller using a modern CPU and OS instead of an embedded CPU.

Features:

Mini Maestro for

PWM output support (12 ch optimization to write multiple channels at once) ~ < 1ms per write Analog Input Digital IO
Pwm sum signal from rc reciever via pwm to usb adapter and fast joystick input (windows / linux) Sparkfun Razor IMU with custom firmware for 100 hz output GPS NMEA Parser (tested with Venus gps) PID library Single step debugging on device via mono soft debugger or debugging locally on windows (All Hardware can be accessed via usb on windows Event driven communication and programming: all UAV Parameters e.g. PID Gains can be changed in flight Command framework Communication via WLAN or 3G TCP & UDP support Loop is working well at 100 HZ Framework is optimized for low garbage collection overhead. Logging with Log4Net

GroundControl:

Winforms Application Dockable Pads Layout Manager UAV Session Manager OpenGL Visualisation of UAV Attitude UAV Parameter Visual Studio style Property editor UAv Parameter slider editor and visualisatioon Graphing with Zedgraph Mission Planer including Map and Waypointeditor

It is much easier to access hardware, if it is already supported by linux. For example i was using the PS3 eye toy cam to get a low latency video stream over wifi to the pc Latency was below 150 ms.

It would also be quite easy to access a kinect device using the .net libs available, but i guess that would make more sense on a rover.

i've released the source code under the GPLv3 in the hope that it will be usefull to others, and to speed up development. Remember this is more a framework, than an autopilot. But the plan is that it will become one someday :-)

You can find it in my SVN repository at: http://siegelrnd.at/svn/uav/Software

online documentation can be accessed at: http://siegelrnd.at/uav/html

Peter Siegel siegelpeter2009(at)gmail.com

3rd Party Libaries used:

Pololu Mini Maestro .net Wrapper (with modifications to write multiple targets at once) SharpGPS PIDLibary http://www.codeproject.com/Articles/49548/Industrial-NET-PID-Controllers with modifications to work directly on UAV Parameters dockpanelsuite http://sourceforge.net/projects/dockpanelsuite/ MonoLibUSB GMAP.NET Zedgraph Gavaghan.Geodesy Log4Net OpenGL / FreeGLUT / SDL

UAV.NET: a UAV / Robotic control framework for .net
Copyright (C) 2012  Peter Siegel

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.