Hardware design and implementation of a MAVLink interface for an FPGA-based autonomous UAV flight control system
Fuller, Blake, Kok, Jonathan, Kelson, Neil A., & Gonzalez, Luis F. (2014) Hardware design and implementation of a MAVLink interface for an FPGA-based autonomous UAV flight control system. In Proceedings of the 2014 Australasian Conference on Robotics and Automation, Australian Robotics & Automation Association ARAA, Melbourne, Australia, pp. 1-6.
This paper details the initial design and planning of a Field Programmable Gate Array (FPGA) implemented control system that will enable a path planner to interact with a MAVLink based flight computer. The design is aimed at small Unmanned Aircraft Vehicles (UAV) under autonomous operation which are typically subject to constraints arising from limited on-board processing capabilities, power and size. An FPGA implementation for the de- sign is chosen for its potential to address such limitations through low power and high speed in-hardware computation. The MAVLink protocol offers a low bandwidth interface for the FPGA implemented path planner to communicate with an on-board flight computer. A control system plan is presented that is capable of accepting a string of GPS waypoints generated on-board from a previously developed in- hardware Genetic Algorithm (GA) path planner and feeding them to the open source PX4 autopilot, while simultaneously respond- ing with flight status information.
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|Item Type:||Conference Paper|
|Keywords:||Field programmable gate array, unmanned aerial vehicle, mavlink|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aerospace Engineering not elsewhere classified (090199)|
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > Research Centres > High Performance Computing and Research Support
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 [Please consult the Authors]|
|Deposited On:||19 Dec 2014 00:54|
|Last Modified:||04 Jan 2015 23:33|
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