A Brief Introduction and History:
ZeroPilot (ZP) is the successor to PicPilot, and is WARG’s in house flight control software. Historically, ZP has interfaced directly with the HAL libraries provided by STM32. For the 2022 Competition Season, multiple files interfaced directly with the hardware…
So far has been fine since we have use the same chip, but as we begin the port to nucleos and as we begin to develop into a future of chip-shortages and buying whatever chips we can, there begins to arise a need for a hardware-interface layer between ZP and the chip interface itself.
Enter LaminarOS (LOS), WARG’s new custom OS designed to interface between Zeropilot and STM32 Chip.
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Overview of System Architecture
Our ZeroPilot firmware acts as the instruction layer. With this new proposal, ZeroPilot acts as a high-level processor agnostic software stack designed to interface with LaminarOS. LOS should handle all the hardware interfacing and acts as a custom middleware/HAL library between ZP and the processor.
LOS Interface
The interface is the primary layer that will communicate with ZP. These interfaces should define common structs (or data types) that will remain platform agnostic (i.e. pitch, roll, yaw, user stick inputs, link status, etc).