Architecture
MCU
GPU
DSP
CPU
ROS or ØMQ pub/sub Inter Process Communication
Stereo Matching
Feature Matching
Visual Odometry
Path Planner
Microcontroller / DSP Realtime Execution Environment (RTOS)
MS5611
MPU6000
L3GD20H
HMC5983
LSM303D
NEO 8M
μORB or MuORB pub/sub Inter Process Communication
CPU General Purpose Execution Environment (Linux)
Lidar
HMC5983
State Estimator
Position Controller
Attitude Controller
Navigator
Commander
Obstacle Detection
Radio Telemetry
4G / LTE Telemetry