Decision Process
Options
- BlueOS core
- BlueOS Extension
- Independent
- Internal (Jupyter, Node-RED, etc)
- Add-on (Cockpit widget, etc)
- Autopilot
- Firmware driver
- Lua script
Diagram
flowchart TD
start(Something<br>to integrate)
start --> Q1{purpose?}
Q1 -- change the world --> Actuator
Actuator --> QA1{control signal?}
QA1 -- "binary<br>(ON/OFF)" --> ADO(Autopilot<br>digital outputs):::Autopilot
QA1 -- "CAN bus" ---> QCAN{"controlled<br>by autopilot?"}
QCAN -- "yes" --> ACP("Autopilot<br>CAN port<br>(+ArduPilot<br>library)"):::Autopilot
QCAN -- "no" --> STP1[Spare<br>tether<br>pair] --> CSC1("Control Station<br>Computer"):::Computer
QA1 -- "PWM (servo /<br>duty-cycle)" --> APO(Autopilot<br>PWM outputs):::Autopilot
QA1 -- "USB<br>serial" ---> OCUSB1["Onboard Computer<br>USB port"] --> BEUIP("BlueOS Extension<br>(USB over IP)"):::BlueOS
QA1 -- "UART serial /<br>MAVLink" --> ASP("Autopilot serial<br>UART port<br>(+ArduPilot library)"):::Autopilot
Q1 -- measure the world --> Sensor
Sensor --> QS1{signal type?}
QS1 -- "UART<br>serial" --> ASP
QS1 -- "USB" --> OCUSB2["Onboard Computer<br>USB port"]
QS1 -- "RSxxx<br>serial" --> QUSB{RS485 and<br>unrelated to<br>vehicle?}
QUSB -- "no" --> USC1[USB-serial<br>converter] --> OCUSB2 --> QOC1{used/<br>processed<br>by vehicle?}
QOC1 -- "no" --> QOC2{Control<br>Station Computer<br>accepts UDP?}
QOC2 -- "no" --> BEUIP
QOC2 -- "yes" --> BB(BlueOS Bridges):::BlueOS
QOC1 -- "yes" --> QOC3{UVC Camera?}
QOC3 -- "yes" -----> BCM(BlueOS<br>Camera Manager):::BlueOS
QOC3 -- "no" ----> BEC2(Custom BlueOS<br>Extension):::BlueOS
QUSB -- "yes" --> STP2[Spare tether pair] --> URC[USB-RS485<br>converter] --> CSC2(Control Station<br>Computer):::Computer
QS1 -- "I2C" --> AI2C("Autopilot<br>I2C port<br>(+ ArduPilot<br>library)"):::Autopilot
QS1 -- "binary<br>(ON/OFF)" --> ASD("Autopilot<br>digital input<br>(+ ArduPilot<br>library)"):::Autopilot
QS1 -- "analog<br>electrical" --> QS2{measurable<br>quantity?}
QS2 -- "resistance /<br>current" --> QS3{relevant to<br>autopilot?}
QS3 -- "no" --> STP3[Spare tether pair] --> QS4{needs<br>automatic<br>logging?}
QS4 -- "no" --> MM(Multimeter):::Other
QS4 -- "yes" --> C2["Resistor(s)"] --> ADC2[ADC device] --> CSC2
QS3 -- "yes" --> C1["Resistor(s)"] --> AADC("Autopilot ADC<br>(+ ArduPilot<br>library)"):::Autopilot
QS2 -- "voltage" --> AADC
QS1 -- "Ethernet" --> ES[Ethernet Switch] --> QE1{IP Camera?}
QE1 -- "no" --> QE2{relevant<br>to vehicle<br>control?}
QE2 -- "no" --> QE3{tether<br>type?}
QE3 -- "other" --> TI[Tether Interface] --> Tether
QE3 -- "ethernet<br>cable" --> Tether --> CSC2
QE2 -- "yes" --> BEC2
QE1 -- "yes" --> BCM
QS1 -- "MIPI<br>CSI-2" --> QRPi{Raspberry Pi<br>Compatible?}
QRPi -- "yes" --> BCM
QRPi -- "no" --> Co{{Converter}}
QS1 -- "Other<br>(HDMI,<br>etc)" --> Co -. supported<br>signal<br>type .-> QS1
subgraph SK [style key]
direction TB
Hyperlink:::Link -- "Common<br>path" --> Q{question}
subgraph Endpoints
direction LR
EZ(minimal<br>configuration<br>required):::Easy ~~~
MED(isolated<br>high-level<br>development<br>required):::Medium ~~~
HARD(integrated<br>low-level<br>development<br>required):::Hard
end
end
%% ---------------- ARROW STYLING ----------------- %%
%% style individual arrows, nth, counted in definition order
%% label components (e.g. color) cannot override edgeLabel overrides
linkStyle 15,42,57 stroke:lightseagreen,color:lightseagreen;
linkStyle 55,56 stroke:plum,color:plum;
%% ----------------- NODE STYLING ------------------ %%
%% integration difficulties
classDef Easy stroke:green,stroke-width:6px;
classDef Medium stroke:orange,stroke-width:6px;
classDef Hard stroke:red,stroke-width:6px;
class ADO,APO,BB,BEUSB,BCM,BEUIP Easy;
class BEC1,BEC2,BOS Medium;
class ACP,ASP,AI2C,ASD,AADC Hard;
%% primary integration endpoint
classDef BlueOS fill:#339,color:#eee;
classDef Autopilot fill:#933,color:#eee;
classDef Computer fill:#363,color:#eee;
classDef Other fill:#939,color:#eee;
%% hyperlinks
click ADO "../hardware/additional/electronic-switches/"
click ACP "https://ardupilot.org/dev/docs/can-bus.html"
click BB "../../usage/advanced/#serial-bridges"
click CSC1 "../hardware/required/control-computer/"
click CSC2 "../hardware/required/control-computer/"
click BCM "../../usage/advanced/#video-streams"
click ES "../hardware/additional/ethernet-switch/"
click TI "../hardware/recommended/tether-interface/"
click URC "https://bluerobotics.com/store/comm-control-power/tether-interface/bluart-r1-rp/"
classDef Link color:#0af;
class ADO,ACP,BB,CSC1,CSC2,BCM,ES,TI,URC Link;
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