Software Architecture
Linux Kernel
RTOS Kernel
Libraries
Application Framework
DroneAPI Apps (ØMQ/ROS)
ROS or ØMQ pub/sub Broker
VI Odometry
Authentication
μORB or MuORB pub/sub
Sensor Drivers
Actuator Drivers
Failsafe System
Camera Driver
Network
Geotagging
State Estimation
4G / LTE
4G / LTE
Estimation Lib
Control Lib
Math Lib
Storage
UAVCAN Driver
MAVLink Lib
UAVCAN Lib
OpenCV
Surveys
Cargo
SAR
Multicopter Ctrl.
Fixed Wing Ctrl.
VTOL Ctrl.
Commander
Navigator
MAVLink Serial