nikhil9 / nayan_slave_firmware

Firmaware to run on Nayan Slave Processor

Nayan Slave Firmware

BareBone code template for Nayan Slave Processor written in chibios

###Flashing on the Slave Firmware Slave_Processor_Setup

###Nayan Wiki Visit http://aus.co.in/wiki

###Chibios Documentation Visit http://chibios.sourceforge.net/html/

###MAVLink Visit http://qgroundcontrol.org/mavlink/start

##Overview

###Sensor Variables

• Sensor_IMU sens_imu holds latest acceleration, angular rates and attitude from IMU
• Sensor_Pose sens_pos holds latest latitude, longitude, velocities in NED from GPS and altitude from barometer.
• Sensor_ExtPos sens_cv holds vision position estimates from odroid
• uint16_t rc_in[7] holds latest radio control inputs.

###Control Variables

• bool_t dmc control motors direcly if TRUE. If FALSE, then provids setpoints to master controller.
• uint16_t control_command[4] accepts direct motor commands if dmc = TRUE or master controller setpoints if dmc = FASLE