Differences

This shows you the differences between two versions of the page.

--- sw [2020/02/02 19:44] – nikolal
+++ sw [2025/01/28 13:15] (current) – [DUNE for the Otter] nikolal
@@ Line 1: / Line 1: @@
 ====== Software Architecture ======
-The control box of the Otter ASV used by NTNU, use a customized version of [[https://lsts.fe.up.pt/toolchain/dune|DUNE]] running on the [[https://www.raspbian.org/|Raspian]] OS.
+The control box of the Otter ASV used by NTNU, use a customized version of [[https://lsts.fe.up.pt/toolchain/dune|DUNE]] running on the Ubuntu Server 20.04.
-===== Raspian =====
+===== The LSTS Toolchain =====
-Raspbian is a Linux based operating system optimized for use on the Raspberry Pi hardware. Due to the
+The software used to control the Otter is based on the LSTS [[https://www.lsts.pt/toolchain|Toolchain]], which is a software toolchain meant for developing networked vehicle systems. It aims at creating a
-great amount of community support available, and previous experience, it was chosen as the operating system
+modular system for heterogeneous systems of vehicles, in order to control them by much of the same software.
-for the Otter.
+The Otter is an autonomous surface vehicle (ASV), but it also supports autonomous underwater vehicles
-Raspian comes in two official flavours, one with a full desktop environment, and one meant for headless (No screen, keyboard or mouse used, only remote access.) use. The Otter is controlled over a network connection, and having a desktop would only waste valuable resources. That is the reasoning behind why the Otter uses the headless version called Raspian Lite.
+(AUV), unmanned aerial vehicles (UAV), remotly operated vehicles (ROV) and more.
+An important aspect in why it was chosen, was that it is open source. This makes it easier to know how the
+software actually works, and also gives anybody a chance to fix faults, and implement new features.
+The three main components are Neptus, IMC and DUNE. Neptus is the operators console, IMC is the
+communication protocol, and DUNE is the software controlling the vehicles. The next three sections give
+more details of these components.
+The LSTS toolchain is also being used by multiple other projects at NTNU:
+  * [[http://autonaut.itk.ntnu.no/doku.php| The NTNU AutoNaut]]
+  * [[http://uavlab.itk.ntnu.no/wiki/doku.php|The UAV lab]] (requires local IP address), there is also some [[https://www.itk.ntnu.no/english/lab/unmanned|public information]] available.
 ===== DUNE for the Otter =====
@@ Line 13: / Line 22: @@
   * [[dune_configuration|DUNE configuration]]
   * [[torqeedo_interface_dune_task|Torqeedo Interface DUNE task]]
-  * [[tbr700rt_dune_task|TBR-700 RT DUNE Task]]
   * [[stratopican_watchdog|Strato Pi CAN watchdog DUNE Task]]
 ===== Guides =====
-  * [[sw_setup|Installing raspian and enabling CAN bus]]
   * [[sw_run_startup|Starting DUNE while booting]]
-  * [[glued_cross_compiler|Cross-compiling for the Raspberry Pi]]
+  * [[cmake|DUNE cmake tips]]
   * [[neptus_tips_and_tricks|Neptus tips and tricks]]
-  * [[enable_pps_support_raspian|Enable PPS support in Raspian]]
+  * [[boot_config|]]
+  * [[rpi_uart_setup|RPI UART setup]]