Presentation on ArduPilot switch from NuttX to ChibiOS

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Presentation on ArduPilot switch from NuttX to ChibiOS

Postby tridge » Mon Feb 26, 2018 6:40 am

I gave a talk last week at the annual ArduPilot developer conference on the switch to ChibiOS from NuttX in the project:
https://www.youtube.com/watch?v=y2KCB0a3xMg&t=2s
(it's a bit long as I got carried away, sorry!)
Slides are here:
http://uav.tridgell.net/presentations/ArduPilot_2018/chibios.pdf
The bottom line is that we are extremely happy with the switch to ChibiOS for ArduPilot!
Cheers, Tridge

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Re: Presentation on ArduPilot switch from NuttX to ChibiOS

Postby Giovanni » Mon Feb 26, 2018 9:35 am

Hi,

Thanks for posting, very interesting project, I am sure a lot of people here could be interested.

Giovanni

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Re: Presentation on ArduPilot switch from NuttX to ChibiOS

Postby DeusExMachina » Tue Feb 27, 2018 7:49 am

Cool! I've seen guys from Taulabs had been migrating from FreeRTOS to ChibiOS due to simillar performance issues

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Re: Presentation on ArduPilot switch from NuttX to ChibiOS

Postby faisal » Mon Mar 05, 2018 12:12 am

DeusExMachina wrote:Cool! I've seen guys from Taulabs had been migrating from FreeRTOS to ChibiOS due to simillar performance issues


Really? Any details on this? I'm very interested. Having looked at both implementations to a extent, my expectation was that FreeRTOS and ChibiOS would be comparable in terms of performance - with ChibiOS having a slight edge. Though I didn't think the difference was significant enough to justify a migration of a legacy code base.

Anywhoo, ChibiOS FTW!

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Re: Presentation on ArduPilot switch from NuttX to ChibiOS

Postby Giovanni » Mon Mar 05, 2018 8:56 am

The forum disappeared but results are still here:

https://gist.github.com/lilvinz/6ac8620856c97c90c809

I see a pattern here ;)

Giovanni

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Re: Presentation on ArduPilot switch from NuttX to ChibiOS

Postby DeusExMachina » Sat Apr 07, 2018 1:59 am

faisal wrote:
DeusExMachina wrote:Cool! I've seen guys from Taulabs had been migrating from FreeRTOS to ChibiOS due to simillar performance issues


Really? Any details on this? I'm very interested. Having looked at both implementations to a extent, my expectation was that FreeRTOS and ChibiOS would be comparable in terms of performance - with ChibiOS having a slight edge. Though I didn't think the difference was significant enough to justify a migration of a legacy code base.

Anywhoo, ChibiOS FTW!


Since I had built my drone many things died out.
I do remember a discussion that Chibios allowed for 20% performance gain.
But I cannot find this blog post now.
There was a guy who led the development of Taulabs
http://buildandcrash.blogspot.kr/
Maybe you can reach him out.

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Re: Presentation on ArduPilot switch from NuttX to ChibiOS

Postby faisal » Sat Apr 07, 2018 2:30 am

DeusExMachina wrote:
faisal wrote:
DeusExMachina wrote:Cool! I've seen guys from Taulabs had been migrating from FreeRTOS to ChibiOS due to simillar performance issues


Really? Any details on this? I'm very interested. Having looked at both implementations to a extent, my expectation was that FreeRTOS and ChibiOS would be comparable in terms of performance - with ChibiOS having a slight edge. Though I didn't think the difference was significant enough to justify a migration of a legacy code base.

Anywhoo, ChibiOS FTW!


Since I had built my drone many things died out.
I do remember a discussion that Chibios allowed for 20% performance gain.
But I cannot find this blog post now.
There was a guy who led the development of Taulabs
http://buildandcrash.blogspot.kr/
Maybe you can reach him out.


Do you remember if the chibios HAL was also adopted, was the difference between them just the kernel? I'm (pleasantly) surprised if just swapping out the scheduler between FreeRTOS and ChibiOS is that dramatic.

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Re: Presentation on ArduPilot switch from NuttX to ChibiOS

Postby DeusExMachina » Wed Apr 25, 2018 12:26 pm

faisal wrote:...
Do you remember if the chibios HAL was also adopted, was the difference between them just the kernel? I'm (pleasantly) surprised if just swapping out the scheduler between FreeRTOS and ChibiOS is that dramatic.

AFAIK they used kernel only


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