0 00:00:00,000 --> 00:00:30,000 Dear viewer, these subtitles were generated by a machine via the service Trint and therefore are (very) buggy. If you are capable, please help us to create good quality subtitles: https://c3subtitles.de/talk/140 Thanks! 1 00:00:13,450 --> 00:00:15,969 So good morning, and 2 00:00:15,970 --> 00:00:18,339 it's nice to see so many people at this 3 00:00:18,340 --> 00:00:20,979 early hour, so 4 00:00:20,980 --> 00:00:22,299 welcome everyone. 5 00:00:22,300 --> 00:00:24,519 I'm incredibly happy to be speaking 6 00:00:24,520 --> 00:00:25,809 with you. 7 00:00:25,810 --> 00:00:27,969 My name is President Muskie and I have 8 00:00:27,970 --> 00:00:29,899 been developing drones for quite a while 9 00:00:29,900 --> 00:00:30,900 now. 10 00:00:31,720 --> 00:00:33,819 I'm one of the paparazzi UAV system 11 00:00:33,820 --> 00:00:34,809 developers. 12 00:00:34,810 --> 00:00:36,909 I actively contributes software and 13 00:00:36,910 --> 00:00:38,829 hardware designs to the project, help 14 00:00:38,830 --> 00:00:40,899 maintain the websites and the 15 00:00:40,900 --> 00:00:42,010 server infrastructure. 16 00:00:43,120 --> 00:00:45,279 So I might be a little bit biased, 17 00:00:45,280 --> 00:00:47,439 but I will try to be as objective 18 00:00:47,440 --> 00:00:48,440 as I can. 19 00:00:50,670 --> 00:00:52,799 My company, one bit square performs open 20 00:00:52,800 --> 00:00:54,989 source micro UAV, consulting, development 21 00:00:54,990 --> 00:00:57,239 and manufacturing, I have been working 22 00:00:57,240 --> 00:00:59,909 in that field of autonomous 23 00:00:59,910 --> 00:01:02,009 unmanned aerial vehicles for 24 00:01:02,010 --> 00:01:04,289 almost seven years now, and I'm also 25 00:01:04,290 --> 00:01:06,209 the developer of Lisa and Lisa s 26 00:01:06,210 --> 00:01:08,279 Autopilot's that are part 27 00:01:08,280 --> 00:01:09,540 of the paparazzi platform. 28 00:01:11,510 --> 00:01:15,079 When we read about drones in the news, 29 00:01:15,080 --> 00:01:17,269 we perceive them as big, scary, 30 00:01:17,270 --> 00:01:19,549 expensive and very likely lethal. 31 00:01:20,810 --> 00:01:22,999 But this is not what we would be talking 32 00:01:23,000 --> 00:01:24,289 about today. 33 00:01:24,290 --> 00:01:27,319 We will be talking about this small, 34 00:01:27,320 --> 00:01:29,449 the affordable, 35 00:01:29,450 --> 00:01:31,699 the sometimes odd and 36 00:01:31,700 --> 00:01:33,199 sometimes also quite big. 37 00:01:35,490 --> 00:01:37,669 I am also only interested in drones 38 00:01:37,670 --> 00:01:39,949 that adhere to the same idea of freedom 39 00:01:39,950 --> 00:01:41,090 as freedom of speech. 40 00:01:43,090 --> 00:01:45,159 And some of 41 00:01:45,160 --> 00:01:47,439 those that everyone could build 42 00:01:47,440 --> 00:01:49,299 if they had a minute to spare, I know 43 00:01:49,300 --> 00:01:51,310 this is quite a problem for many of us. 44 00:01:54,000 --> 00:01:56,129 Also, I think a drone needs to be 45 00:01:56,130 --> 00:01:58,709 able to fly by itself 46 00:01:58,710 --> 00:02:01,049 as most at the most simple 47 00:02:01,050 --> 00:02:03,119 level. The only thing that one has to 48 00:02:03,120 --> 00:02:05,249 tell the aircraft is where 49 00:02:05,250 --> 00:02:07,439 to go and what route it should 50 00:02:07,440 --> 00:02:09,329 take to get there. 51 00:02:09,330 --> 00:02:11,729 And this flight instructions can be 52 00:02:11,730 --> 00:02:13,530 greatly more sophisticated than that 53 00:02:15,270 --> 00:02:17,669 now that we have set up some borders for 54 00:02:17,670 --> 00:02:19,919 the things that we will be talking about. 55 00:02:19,920 --> 00:02:21,539 Let's start with some history. 56 00:02:23,550 --> 00:02:25,679 I am pretty sure there are projects that 57 00:02:25,680 --> 00:02:27,959 are older than what I could find, 58 00:02:27,960 --> 00:02:30,329 but this is as far back 59 00:02:30,330 --> 00:02:32,309 as I could uncover. 60 00:02:32,310 --> 00:02:34,889 The project is simply called autopilot 61 00:02:34,890 --> 00:02:37,229 or it has some DIY thing 62 00:02:37,230 --> 00:02:39,719 in it too, and 63 00:02:39,720 --> 00:02:42,329 can still be found on SourceForge. 64 00:02:42,330 --> 00:02:45,749 The project was created in 2001, 65 00:02:45,750 --> 00:02:47,339 and it's still being worked on. 66 00:02:47,340 --> 00:02:48,899 That's the funny part. 67 00:02:48,900 --> 00:02:50,969 The Autopilot has an open 68 00:02:50,970 --> 00:02:52,769 source stabilization and navigation 69 00:02:52,770 --> 00:02:55,199 system for helicopters, and 70 00:02:55,200 --> 00:02:57,449 they documented their first fully 71 00:02:57,450 --> 00:02:59,819 hands off of the remote 72 00:02:59,820 --> 00:03:02,969 control flights in June 2003. 73 00:03:04,860 --> 00:03:07,109 The next project was the development 74 00:03:07,110 --> 00:03:08,849 of paparazzi UAV. 75 00:03:08,850 --> 00:03:10,919 I know what you might think paparazzi 76 00:03:10,920 --> 00:03:12,569 is a strange name. 77 00:03:12,570 --> 00:03:14,759 But I just attribute it to the French 78 00:03:14,760 --> 00:03:15,760 humor. 79 00:03:16,290 --> 00:03:18,449 Around the time when the previously 80 00:03:18,450 --> 00:03:20,249 mentioned Autopilot project was 81 00:03:20,250 --> 00:03:22,199 performing their first autonomous 82 00:03:22,200 --> 00:03:24,599 flights, Pascal Bresee and Antoine 83 00:03:24,600 --> 00:03:26,849 DuPont from Inuk Local 84 00:03:26,850 --> 00:03:28,979 Nazionale de la Vision Seville 85 00:03:28,980 --> 00:03:31,439 in Toulouse in France decided 86 00:03:31,440 --> 00:03:33,719 to compete in the NCAA Super 87 00:03:33,720 --> 00:03:35,999 IRA autonomous flight competition. 88 00:03:37,440 --> 00:03:39,599 The original design used an off 89 00:03:39,600 --> 00:03:41,729 the shelf commercial FM 90 00:03:41,730 --> 00:03:44,249 copilots stabilization system, 91 00:03:44,250 --> 00:03:46,769 which was mounted on their twinjet 92 00:03:46,770 --> 00:03:48,899 remote controlled airplane. 93 00:03:48,900 --> 00:03:50,999 They were feeding control signals 94 00:03:51,000 --> 00:03:53,579 to it from a laptop on the ground 95 00:03:53,580 --> 00:03:56,069 that, in turn, was running the actual 96 00:03:56,070 --> 00:03:57,990 control instead of a human pilot. 97 00:03:59,880 --> 00:04:02,129 This can be rather unreliable set 98 00:04:02,130 --> 00:04:03,089 up. 99 00:04:03,090 --> 00:04:05,159 It is difficult to predict 100 00:04:05,160 --> 00:04:07,469 what the black box commercial 101 00:04:07,470 --> 00:04:09,959 hardware and software will do 102 00:04:09,960 --> 00:04:11,849 and how it will react to the computer 103 00:04:11,850 --> 00:04:13,229 generated commands. 104 00:04:13,230 --> 00:04:16,169 This resulted in unavoidable oscillations 105 00:04:16,170 --> 00:04:18,869 and end crashes. 106 00:04:18,870 --> 00:04:20,969 Antoine and Pascal developed a board 107 00:04:20,970 --> 00:04:23,189 very similar to the one it created 108 00:04:23,190 --> 00:04:24,809 for the Autopilot project 109 00:04:26,370 --> 00:04:28,679 and reusing some of their remote 110 00:04:28,680 --> 00:04:30,959 control parsing codes and 111 00:04:30,960 --> 00:04:33,119 algorithms, and also adding 112 00:04:33,120 --> 00:04:35,519 good deal of their own code. 113 00:04:35,520 --> 00:04:37,769 They were able to win the competition, 114 00:04:37,770 --> 00:04:40,169 what with that system? 115 00:04:40,170 --> 00:04:42,329 This inspired them to continue working 116 00:04:42,330 --> 00:04:45,089 on that project and because they wished 117 00:04:45,090 --> 00:04:47,369 to share and their ideas 118 00:04:47,370 --> 00:04:49,709 and collaborate with other enthusiasts, 119 00:04:49,710 --> 00:04:51,779 they released the software and hardware 120 00:04:51,780 --> 00:04:54,329 designs to the public or under GPL. 121 00:04:56,600 --> 00:04:59,479 In the years that followed, more teams 122 00:04:59,480 --> 00:05:01,459 used paparazzi system to compete in 123 00:05:01,460 --> 00:05:04,549 competitions and win a lot of prizes 124 00:05:04,550 --> 00:05:06,439 involving fixed wing aircraft and 125 00:05:06,440 --> 00:05:07,440 autonomous flight. 126 00:05:11,000 --> 00:05:13,129 Around the same time, when paparazzi was 127 00:05:13,130 --> 00:05:15,289 started to smart, German 128 00:05:15,290 --> 00:05:17,689 high school students developed a rarely 129 00:05:17,690 --> 00:05:20,269 before seen flying object for 130 00:05:20,270 --> 00:05:21,270 and. 131 00:05:21,470 --> 00:05:23,719 You can forecast, is a national science 132 00:05:23,720 --> 00:05:25,669 compared to competition for high school 133 00:05:25,670 --> 00:05:28,489 students, which recognizes 134 00:05:28,490 --> 00:05:31,039 and rewards inventions and innovations. 135 00:05:31,040 --> 00:05:32,719 You might recognize the device they 136 00:05:32,720 --> 00:05:35,449 invented since it's quite ubiquitous 137 00:05:35,450 --> 00:05:36,980 by now. Definitely here. 138 00:05:40,010 --> 00:05:42,359 Based on their invention, the company 139 00:05:42,360 --> 00:05:45,049 Silver Lit started producing 140 00:05:45,050 --> 00:05:48,259 a Quadro copter toy called X UFO. 141 00:05:48,260 --> 00:05:50,419 I'm departing here from the open source 142 00:05:50,420 --> 00:05:52,999 premise, but stay with me because 143 00:05:53,000 --> 00:05:54,980 the innovation is an important one. 144 00:05:56,740 --> 00:05:59,079 As you might know, a Quadro copter is 145 00:05:59,080 --> 00:06:00,609 inherently unstable. 146 00:06:00,610 --> 00:06:03,129 That means it will fall out of the sky 147 00:06:03,130 --> 00:06:06,069 just like that if you don't feed 148 00:06:06,070 --> 00:06:07,290 signals to the motors. 149 00:06:09,820 --> 00:06:12,009 The rule of thumb is that 150 00:06:12,010 --> 00:06:14,109 it needs at least 100 151 00:06:14,110 --> 00:06:16,389 hertz getting updates 152 00:06:16,390 --> 00:06:18,849 to the motors so that it 153 00:06:18,850 --> 00:06:20,949 stays afloat. A human is only 154 00:06:20,950 --> 00:06:23,229 able to deliver at most 10 updates 155 00:06:23,230 --> 00:06:24,309 per second. 156 00:06:24,310 --> 00:06:26,679 If they are really well trained, 157 00:06:26,680 --> 00:06:28,809 thus the platform needs some kind of 158 00:06:28,810 --> 00:06:31,269 a mechanical or electronic stabilization 159 00:06:31,270 --> 00:06:33,459 system to make it playable by a human. 160 00:06:35,500 --> 00:06:37,719 The X UFO was price 161 00:06:37,720 --> 00:06:39,249 optimized as a toy. 162 00:06:39,250 --> 00:06:41,709 It used a mechanical gyroscope 163 00:06:41,710 --> 00:06:44,259 with whole sensor pickups. 164 00:06:44,260 --> 00:06:46,419 This is quite a mind blowing, considering 165 00:06:46,420 --> 00:06:49,089 it was cheaper to build and manufacture 166 00:06:49,090 --> 00:06:51,729 such a device than it was to purchase 167 00:06:51,730 --> 00:06:53,799 an off the shelf piezoelectric 168 00:06:53,800 --> 00:06:56,049 or micro mechanical sensor. 169 00:06:56,050 --> 00:06:58,539 The mechanical gyroscope had many 170 00:06:58,540 --> 00:06:59,529 issues. 171 00:06:59,530 --> 00:07:01,809 It suffered from progression 172 00:07:01,810 --> 00:07:04,089 and as well as limited error 173 00:07:04,090 --> 00:07:06,009 angle before it started hitting the 174 00:07:06,010 --> 00:07:08,139 brackets, resulting in the 175 00:07:08,140 --> 00:07:09,759 so-called flip of death. 176 00:07:13,080 --> 00:07:15,359 These shortcomings and the fact 177 00:07:15,360 --> 00:07:17,849 that the rest of the UFO electronics 178 00:07:17,850 --> 00:07:19,949 were quite simple, created 179 00:07:19,950 --> 00:07:22,019 quite a big community of people 180 00:07:22,020 --> 00:07:24,209 that were modifying and improving the 181 00:07:24,210 --> 00:07:26,370 electronics and sensors for the platform. 182 00:07:29,130 --> 00:07:31,229 The exciting development 183 00:07:31,230 --> 00:07:33,539 and knowledge exchange that was happening 184 00:07:33,540 --> 00:07:35,849 in the UFO forum was mostly 185 00:07:35,850 --> 00:07:38,069 German speaking, but the forum provided 186 00:07:38,070 --> 00:07:40,259 a great meeting place for all the 187 00:07:40,260 --> 00:07:42,029 UAV community at that time. 188 00:07:43,230 --> 00:07:45,389 Sadly, the forum was disabled 189 00:07:45,390 --> 00:07:47,999 without a warning earlier this year, but 190 00:07:48,000 --> 00:07:49,980 there are efforts to get it back online. 191 00:07:51,650 --> 00:07:53,899 Most of the modifications that were 192 00:07:53,900 --> 00:07:55,969 based on the use of two piezoelectric 193 00:07:55,970 --> 00:07:58,759 gyroscopes and a lot of hot glue. 194 00:07:58,760 --> 00:08:00,979 But even though these modified 195 00:08:00,980 --> 00:08:03,049 versions did not, did not look 196 00:08:03,050 --> 00:08:05,119 pretty. They flew better 197 00:08:05,120 --> 00:08:07,219 than the original since they 198 00:08:07,220 --> 00:08:08,929 did not suffer from progression or the 199 00:08:08,930 --> 00:08:09,930 flip of death. 200 00:08:11,060 --> 00:08:13,159 No, no. Nonetheless, the sensors 201 00:08:13,160 --> 00:08:15,679 were difficult to get in single units. 202 00:08:15,680 --> 00:08:17,779 The piezo electric sensors suffered from 203 00:08:17,780 --> 00:08:20,359 temperature drift and mounting them 204 00:08:20,360 --> 00:08:22,669 perfectly perpendicular to the airframe 205 00:08:22,670 --> 00:08:24,589 was quite a tricky, quite a trick. 206 00:08:27,000 --> 00:08:29,009 Thanks to those two sensors, it was 207 00:08:29,010 --> 00:08:30,509 possible to stabilize 208 00:08:31,920 --> 00:08:34,048 the most unstable two axis, 209 00:08:35,250 --> 00:08:36,250 namely the 210 00:08:37,320 --> 00:08:39,509 if you say the front is here 211 00:08:39,510 --> 00:08:41,849 to pitch and the roll axis. 212 00:08:41,850 --> 00:08:43,918 So these are the two that 213 00:08:43,919 --> 00:08:45,029 this would stabilize. 214 00:08:49,060 --> 00:08:50,709 This is when the inventors of the 215 00:08:50,710 --> 00:08:53,079 platform, Daniel Gordon and Klaus Michel 216 00:08:53,080 --> 00:08:55,239 Dot, came back into the 217 00:08:55,240 --> 00:08:57,369 picture together with two 218 00:08:57,370 --> 00:08:59,559 of their college friends, Young Stone 219 00:08:59,560 --> 00:09:00,879 and Michel acrylic. 220 00:09:00,880 --> 00:09:03,519 They found it ascending technologies. 221 00:09:03,520 --> 00:09:05,739 They produced their 3D 222 00:09:05,740 --> 00:09:07,929 puzzle gyroscope board that was a drop 223 00:09:07,930 --> 00:09:09,639 in replacement for the mechanical 224 00:09:09,640 --> 00:09:10,719 gyroscope. 225 00:09:10,720 --> 00:09:13,779 That was quite an important part and 226 00:09:13,780 --> 00:09:14,780 quite an improvement. 227 00:09:15,910 --> 00:09:18,369 The 3D board added 228 00:09:18,370 --> 00:09:21,069 one more axis of measurement, making your 229 00:09:21,070 --> 00:09:23,409 so the vertical rotation 230 00:09:23,410 --> 00:09:24,610 all stabilized to. 231 00:09:27,550 --> 00:09:29,649 While it was a commercial product, the 232 00:09:29,650 --> 00:09:31,929 development inspired a few 233 00:09:32,950 --> 00:09:35,289 other people to work on their own 234 00:09:35,290 --> 00:09:37,779 incarnations of quadcopter electronics 235 00:09:37,780 --> 00:09:38,949 and solutions. 236 00:09:38,950 --> 00:09:41,379 Among them was micro copter. 237 00:09:41,380 --> 00:09:44,349 Micro copter was mentioned in there 238 00:09:44,350 --> 00:09:46,659 for the first time in a UFO 239 00:09:46,660 --> 00:09:49,929 forum post in October 2006. 240 00:09:49,930 --> 00:09:52,479 Many of you might know of them already. 241 00:09:52,480 --> 00:09:55,119 They provided access to their source code 242 00:09:55,120 --> 00:09:57,069 and had quite a well documented 243 00:09:57,070 --> 00:09:58,419 circuitry. 244 00:09:58,420 --> 00:10:00,729 This was great, even though they were 245 00:10:00,730 --> 00:10:02,709 not technically licensed, licensed as 246 00:10:02,710 --> 00:10:04,569 open source, but something completely 247 00:10:04,570 --> 00:10:06,459 proprietary with very questionable 248 00:10:06,460 --> 00:10:07,460 status. 249 00:10:09,830 --> 00:10:12,079 The Micro Copter Control Board came 250 00:10:12,080 --> 00:10:14,209 with seven degrees of measurement. 251 00:10:14,210 --> 00:10:16,429 Adding a three axis accelerometer, 252 00:10:16,430 --> 00:10:18,679 so a linear motion in all 253 00:10:18,680 --> 00:10:19,680 three axis 254 00:10:20,900 --> 00:10:24,469 that measured the Earth's gravitational 255 00:10:24,470 --> 00:10:26,689 acceleration, providing the absolute 256 00:10:26,690 --> 00:10:27,690 down vector. 257 00:10:29,060 --> 00:10:31,399 This allowed for the platform to stay 258 00:10:31,400 --> 00:10:33,379 horizontal with a smaller amount of 259 00:10:33,380 --> 00:10:35,599 drift. This feature allowed 260 00:10:35,600 --> 00:10:37,819 one to release the remote control stakes 261 00:10:37,820 --> 00:10:40,069 a bit before the quattro copter drifted 262 00:10:40,070 --> 00:10:41,959 into something horizontally. 263 00:10:41,960 --> 00:10:44,299 It also came with a barometer providing 264 00:10:44,300 --> 00:10:46,669 an absolute altitude information 265 00:10:46,670 --> 00:10:48,799 and making it possible for the 266 00:10:48,800 --> 00:10:51,139 vehicle to remain at an set altitude 267 00:10:51,140 --> 00:10:52,140 by itself. 268 00:10:56,670 --> 00:10:58,409 Another platform that I would like to 269 00:10:58,410 --> 00:11:00,989 mention was the Welfare, a board 270 00:11:00,990 --> 00:11:03,119 also known as the unmanned aerial 271 00:11:03,120 --> 00:11:05,789 video platform you AVP project. 272 00:11:05,790 --> 00:11:08,579 As far as I know, it was open 273 00:11:08,580 --> 00:11:10,409 since it was possible to access the 274 00:11:10,410 --> 00:11:11,339 source code. 275 00:11:11,340 --> 00:11:13,709 I am not precisely sure about the exact 276 00:11:13,710 --> 00:11:15,809 history of the project and whether it was 277 00:11:15,810 --> 00:11:17,909 actually inspired by the UFO, 278 00:11:17,910 --> 00:11:20,249 but at the time during which they 279 00:11:20,250 --> 00:11:21,899 were developed are very close. 280 00:11:23,220 --> 00:11:25,649 The platform used more sophisticated 281 00:11:25,650 --> 00:11:27,599 macro mechanical sensors. 282 00:11:27,600 --> 00:11:29,879 This made it quite a bit more expensive, 283 00:11:29,880 --> 00:11:31,949 but it also much more. 284 00:11:31,950 --> 00:11:34,589 It was much more stable in flight. 285 00:11:34,590 --> 00:11:36,779 This stability made it much better as 286 00:11:36,780 --> 00:11:38,159 a video camera platform 287 00:11:39,360 --> 00:11:41,489 out of and 288 00:11:41,490 --> 00:11:43,679 out of that particular project you, AVP 289 00:11:43,680 --> 00:11:45,929 Nji emerged to composed 290 00:11:45,930 --> 00:11:48,119 of a new group of people and its 291 00:11:48,120 --> 00:11:50,039 own separate philosophy. 292 00:11:50,040 --> 00:11:51,040 This is and 293 00:11:52,170 --> 00:11:54,329 this new group mainly targeted Quadro 294 00:11:54,330 --> 00:11:56,519 copters high quality sensors, and 295 00:11:56,520 --> 00:11:58,349 it was meant for those who wanted to 296 00:11:58,350 --> 00:12:00,689 assemble the electronics themselves. 297 00:12:00,690 --> 00:12:02,879 They regularly released a stable 298 00:12:02,880 --> 00:12:05,279 source code under open source licenses. 299 00:12:05,280 --> 00:12:07,499 And as far as I can tell, 300 00:12:07,500 --> 00:12:09,659 their goal was a very high level 301 00:12:09,660 --> 00:12:11,909 of software stability and best 302 00:12:11,910 --> 00:12:13,619 sensors available on the market 303 00:12:14,640 --> 00:12:16,469 and an advanced feature set. 304 00:12:16,470 --> 00:12:18,839 But since I'm here and the creator 305 00:12:18,840 --> 00:12:20,969 of this project is likely 306 00:12:20,970 --> 00:12:22,350 sitting here in the audience, 307 00:12:23,700 --> 00:12:25,649 he can tell you the details of that 308 00:12:25,650 --> 00:12:27,749 history better himself. 309 00:12:27,750 --> 00:12:29,819 They have an assembly here, 310 00:12:29,820 --> 00:12:31,409 so you should go and visit them. 311 00:12:31,410 --> 00:12:33,479 I bet they will be very happy to answer 312 00:12:33,480 --> 00:12:34,769 all of your questions. 313 00:12:36,450 --> 00:12:38,489 In the midst of all that development, a 314 00:12:38,490 --> 00:12:40,739 three axis magnetometer was added, 315 00:12:40,740 --> 00:12:42,899 resulting in 10 degrees of measurement 316 00:12:42,900 --> 00:12:44,729 and absolute information about the 317 00:12:44,730 --> 00:12:45,870 heading of the aircraft. 318 00:12:47,340 --> 00:12:49,559 The addition and the 319 00:12:49,560 --> 00:12:51,929 addition to the platforms that I already 320 00:12:51,930 --> 00:12:52,930 mentioned 321 00:12:54,810 --> 00:12:56,879 there, there were many 322 00:12:56,880 --> 00:12:59,129 more other platforms to come 323 00:12:59,130 --> 00:13:01,409 to our mock up to our copilot 324 00:13:01,410 --> 00:13:03,509 with varying levels of openness and 325 00:13:03,510 --> 00:13:05,429 availability of the hardware. 326 00:13:05,430 --> 00:13:07,559 Most of the project originated here in 327 00:13:07,560 --> 00:13:09,689 Germany, and it took quite a while 328 00:13:09,690 --> 00:13:11,939 before it finally caught on in the US. 329 00:13:11,940 --> 00:13:14,339 For example, Jordi Munoz started 330 00:13:14,340 --> 00:13:16,559 working on his own iyamu for 331 00:13:16,560 --> 00:13:18,749 Arduino that later became the 332 00:13:18,750 --> 00:13:20,099 pilot. 333 00:13:20,100 --> 00:13:22,619 Around January 2008, 334 00:13:22,620 --> 00:13:24,719 this over 335 00:13:24,720 --> 00:13:26,549 time resulted in thriving commercial 336 00:13:26,550 --> 00:13:28,139 companies like 3D robotics. 337 00:13:29,910 --> 00:13:32,099 As most of the solutions already 338 00:13:32,100 --> 00:13:34,139 contained a controller of some kind and a 339 00:13:34,140 --> 00:13:36,389 lot of sensors, it was an obvious next 340 00:13:36,390 --> 00:13:38,519 step to add a GPS and start teaching 341 00:13:38,520 --> 00:13:40,499 quadcopters to fly by themselves. 342 00:13:47,070 --> 00:13:49,529 So this development was happening 343 00:13:49,530 --> 00:13:51,359 from both directions. 344 00:13:51,360 --> 00:13:53,789 The autonomy focused competition 345 00:13:53,790 --> 00:13:55,379 and research driven projects like 346 00:13:55,380 --> 00:13:57,689 paparazzi from one side and 347 00:13:57,690 --> 00:13:59,729 hobby multi copter driven projects from 348 00:13:59,730 --> 00:14:02,099 the other, the paparazzi group developed 349 00:14:02,100 --> 00:14:04,319 its own controller board dedicated 350 00:14:04,320 --> 00:14:05,789 to quadcopters, called Vous, 351 00:14:06,930 --> 00:14:09,299 together with its algorithmic flight 352 00:14:09,300 --> 00:14:11,279 plans and flexible ground station 353 00:14:11,280 --> 00:14:13,469 software originally developed for fixed 354 00:14:13,470 --> 00:14:14,399 wing airplanes. 355 00:14:14,400 --> 00:14:16,739 It started to morph into an airborne 356 00:14:16,740 --> 00:14:18,839 robotics framework rather than a pure 357 00:14:18,840 --> 00:14:19,950 airplane autopilot. 358 00:14:21,810 --> 00:14:23,459 Paparazzi was adopted by many 359 00:14:23,460 --> 00:14:25,079 universities, as well as a bunch of 360 00:14:25,080 --> 00:14:26,039 commercial companies. 361 00:14:26,040 --> 00:14:27,809 The universities and companies help to 362 00:14:27,810 --> 00:14:30,599 improve the platform and add features 363 00:14:30,600 --> 00:14:33,479 for the benefit of everyone involved. 364 00:14:33,480 --> 00:14:35,339 Thanks to the people involved, too, we 365 00:14:35,340 --> 00:14:37,619 are able to push the boundaries of what 366 00:14:37,620 --> 00:14:39,869 we can do with civilian drones 367 00:14:39,870 --> 00:14:40,870 every day. 368 00:14:41,490 --> 00:14:43,499 Other projects that came from the 369 00:14:43,500 --> 00:14:45,509 quadcopter and hobby side of things 370 00:14:45,510 --> 00:14:48,059 started adding Position Holt and 371 00:14:48,060 --> 00:14:50,159 then Waypoint Flight plans 372 00:14:50,160 --> 00:14:52,229 to their existing stabilization, 373 00:14:52,230 --> 00:14:53,460 hardware and software. 374 00:14:55,520 --> 00:14:57,019 So where are we now? 375 00:14:57,020 --> 00:14:59,269 Almost all open source autopilot 376 00:14:59,270 --> 00:15:01,849 systems of today, like our two pilot, 377 00:15:01,850 --> 00:15:03,500 open pilot and paparazzi. 378 00:15:04,870 --> 00:15:07,029 Support fixed wing airplanes in 379 00:15:07,030 --> 00:15:09,129 many configurations, a single engine, 380 00:15:09,130 --> 00:15:11,739 twin engine flaps, a layer on elevators, 381 00:15:11,740 --> 00:15:13,929 flaperon 11s and 382 00:15:13,930 --> 00:15:14,930 so on. 383 00:15:15,910 --> 00:15:18,069 Multi copter not only 384 00:15:18,070 --> 00:15:20,169 quadcopters by a laundry list of 385 00:15:20,170 --> 00:15:21,969 different configurations similar to 386 00:15:21,970 --> 00:15:23,919 airplanes, but even more so. 387 00:15:23,920 --> 00:15:26,169 Three four eight 12 motors in 388 00:15:26,170 --> 00:15:28,239 X plus and over and 389 00:15:28,240 --> 00:15:29,379 under configurations. 390 00:15:29,380 --> 00:15:31,209 It is quite overwhelming how many 391 00:15:31,210 --> 00:15:33,909 possibilities this approach provides. 392 00:15:34,990 --> 00:15:37,459 Basically, attach a few motors with 393 00:15:37,460 --> 00:15:39,969 with propellers to a bunch of struts, 394 00:15:39,970 --> 00:15:41,829 and you will probably be able to make it 395 00:15:41,830 --> 00:15:42,830 fly. 396 00:15:45,500 --> 00:15:47,779 Helicopters started the whole open source 397 00:15:47,780 --> 00:15:50,239 controller story, but to be honest, since 398 00:15:50,240 --> 00:15:52,429 the dawn of the multi copters, they do 399 00:15:52,430 --> 00:15:54,919 not seem to be the most common choice 400 00:15:54,920 --> 00:15:57,019 for conversion into a drone. 401 00:15:57,020 --> 00:15:59,119 The main reason is the cost of 402 00:15:59,120 --> 00:16:01,249 operation. The helicopter has a lot of 403 00:16:01,250 --> 00:16:03,559 very intricate mechanical parts 404 00:16:03,560 --> 00:16:06,079 that are expensive to manufacture. 405 00:16:06,080 --> 00:16:08,449 And if your software screws 406 00:16:08,450 --> 00:16:10,819 up and you crash, the fund becomes 407 00:16:10,820 --> 00:16:12,620 quite expensive very quickly. 408 00:16:14,280 --> 00:16:16,349 They are still being used in 409 00:16:16,350 --> 00:16:18,389 situations where you need a long flight 410 00:16:18,390 --> 00:16:20,459 time, it is easier to put together a 411 00:16:20,460 --> 00:16:22,709 turbine or a combustion engine driven 412 00:16:22,710 --> 00:16:25,079 helicopter than a multi copter. 413 00:16:25,080 --> 00:16:27,479 Recently, though, very cheap, very small 414 00:16:27,480 --> 00:16:29,609 helicopters have become available from 415 00:16:29,610 --> 00:16:31,529 China, making the helicopter an 416 00:16:31,530 --> 00:16:33,389 interesting platform again. 417 00:16:33,390 --> 00:16:34,390 More on that later. 418 00:16:36,390 --> 00:16:38,489 A new category of vehicles called 419 00:16:38,490 --> 00:16:40,949 transitioning vehicles is emerging. 420 00:16:40,950 --> 00:16:42,839 This is a combination between a fixed 421 00:16:42,840 --> 00:16:45,749 wing aircraft and a multi rotor 422 00:16:45,750 --> 00:16:47,639 transitioning vehicle could cause take 423 00:16:47,640 --> 00:16:50,159 off vertically can hover 424 00:16:50,160 --> 00:16:52,649 and on a flip of a switch 425 00:16:52,650 --> 00:16:54,899 or a software comment can transition 426 00:16:54,900 --> 00:16:57,119 into a forward flight, 427 00:16:57,120 --> 00:16:58,950 making it quite more efficient. 428 00:17:00,700 --> 00:17:02,859 And this can be also achieved by tilting 429 00:17:02,860 --> 00:17:04,719 the engines themselves and not the whole 430 00:17:04,720 --> 00:17:06,939 vehicle, as far 431 00:17:06,940 --> 00:17:08,799 as I know, paparazzi is the only platform 432 00:17:08,800 --> 00:17:10,868 so far that supports this new aircraft 433 00:17:10,869 --> 00:17:12,490 class in the vanilla codebase base, 434 00:17:12,491 --> 00:17:14,889 including autonomous flight, 435 00:17:14,890 --> 00:17:16,989 but other projects seems to seem to 436 00:17:16,990 --> 00:17:18,190 be catching up slowly. 437 00:17:19,450 --> 00:17:21,699 Many projects used 438 00:17:21,700 --> 00:17:23,919 atmo or pick microcontrollers, eight 439 00:17:23,920 --> 00:17:25,989 bit architecture and 16 megahertz 440 00:17:25,990 --> 00:17:28,539 clock, or, even worse, Arduino. 441 00:17:28,540 --> 00:17:30,609 But now 442 00:17:30,610 --> 00:17:32,709 most of the projects are using 443 00:17:32,710 --> 00:17:34,869 ARM 30 32 bit 444 00:17:34,870 --> 00:17:37,299 processors that provide enough processing 445 00:17:37,300 --> 00:17:39,519 power to do some fun stuff without 446 00:17:39,520 --> 00:17:42,009 the programmers having to cope to decode 447 00:17:42,010 --> 00:17:43,010 extortionists. 448 00:17:44,260 --> 00:17:46,599 This enables us to think about 449 00:17:46,600 --> 00:17:49,059 adding real time OS for managing 450 00:17:49,060 --> 00:17:51,399 processes, for example, and encryption 451 00:17:51,400 --> 00:17:53,379 to the telemetry links run more 452 00:17:53,380 --> 00:17:55,359 sophisticated estimation for more 453 00:17:55,360 --> 00:17:57,859 accurate control or run intelligent 454 00:17:57,860 --> 00:17:59,500 path planning algorithms. 455 00:18:02,230 --> 00:18:04,419 The sensors have come quite a long 456 00:18:04,420 --> 00:18:05,650 way as well 457 00:18:06,670 --> 00:18:08,739 for the last few years with 458 00:18:08,740 --> 00:18:10,929 the thanks to the ongoing development of 459 00:18:10,930 --> 00:18:12,519 cell phone technology. 460 00:18:12,520 --> 00:18:14,619 The prices of micro mechanical 461 00:18:14,620 --> 00:18:17,229 sensors have dropped significantly 462 00:18:17,230 --> 00:18:19,690 so that they have become affordable. 463 00:18:20,740 --> 00:18:22,569 They might not be the greatest, but they 464 00:18:22,570 --> 00:18:24,999 are good enough for most applications. 465 00:18:25,000 --> 00:18:27,159 And instead of paying $30 466 00:18:27,160 --> 00:18:29,319 per degree of measurement, we 467 00:18:29,320 --> 00:18:31,389 pay six dollars for six degrees of 468 00:18:31,390 --> 00:18:33,609 measurement, or $13 469 00:18:33,610 --> 00:18:34,899 for nine degrees of measurement 470 00:18:34,900 --> 00:18:36,819 measurement in a single chip. 471 00:18:39,470 --> 00:18:41,719 Even though there are many 472 00:18:41,720 --> 00:18:43,969 different boards at the court, they have 473 00:18:43,970 --> 00:18:45,109 converged quite a bit. 474 00:18:46,370 --> 00:18:48,679 What they differ in most is the size 475 00:18:48,680 --> 00:18:51,019 and what integrated features they have, 476 00:18:51,020 --> 00:18:53,029 like radio communications, a video 477 00:18:53,030 --> 00:18:55,759 overlay circuitry server connections 478 00:18:55,760 --> 00:18:57,949 and communication channels to sensors and 479 00:18:57,950 --> 00:18:58,950 actuators. 480 00:19:00,410 --> 00:19:02,869 Here's a sample of a project listed here 481 00:19:02,870 --> 00:19:04,939 is only an excerpt out of paparazzi 482 00:19:04,940 --> 00:19:08,149 supported autopilot comparison table. 483 00:19:08,150 --> 00:19:09,949 As you can see, there are plenty to 484 00:19:09,950 --> 00:19:10,950 choose from. 485 00:19:13,520 --> 00:19:15,559 On the software side of things, the 486 00:19:15,560 --> 00:19:18,049 feature that even the simplest systems 487 00:19:18,050 --> 00:19:20,509 with a GPS support provide is position 488 00:19:20,510 --> 00:19:22,669 and altitude hold, sometimes 489 00:19:22,670 --> 00:19:24,859 also called loiter for 490 00:19:24,860 --> 00:19:26,989 hovering vehicles, this feature is quite 491 00:19:26,990 --> 00:19:29,089 obvious the aircraft stays on a 492 00:19:29,090 --> 00:19:31,609 spot at a designated altitude 493 00:19:31,610 --> 00:19:32,989 in case of an airplane. 494 00:19:32,990 --> 00:19:35,059 This means flying circles around a 495 00:19:35,060 --> 00:19:36,060 set spot. 496 00:19:37,700 --> 00:19:39,649 A simple extension to that feature is 497 00:19:39,650 --> 00:19:41,929 homing when powering 498 00:19:41,930 --> 00:19:43,549 on the aircraft, remembers the 499 00:19:43,550 --> 00:19:46,309 coordinates as its home position 500 00:19:46,310 --> 00:19:47,269 during the flight. 501 00:19:47,270 --> 00:19:49,429 At any time, it is possible to flip 502 00:19:49,430 --> 00:19:51,529 a switch or press a button 503 00:19:51,530 --> 00:19:53,869 that will make the aircraft fly straight 504 00:19:53,870 --> 00:19:55,489 back to that spot. 505 00:19:55,490 --> 00:19:57,589 It is a great safety feature 506 00:19:57,590 --> 00:19:59,809 and an aircraft saver for beginners, 507 00:19:59,810 --> 00:20:01,429 as well as experienced pilots. 508 00:20:03,490 --> 00:20:05,889 For Follow Me, an operator is 509 00:20:05,890 --> 00:20:08,379 carrying a GPS receiver, and 510 00:20:08,380 --> 00:20:10,569 the aircraft then follows the position of 511 00:20:10,570 --> 00:20:13,719 the GPS receiver like a virtual leash. 512 00:20:13,720 --> 00:20:15,729 I have the feeling this feature is not 513 00:20:15,730 --> 00:20:16,959 fully explored yet. 514 00:20:16,960 --> 00:20:19,149 I can't imagine using such a feature 515 00:20:19,150 --> 00:20:21,309 to convert the aircraft into 516 00:20:21,310 --> 00:20:22,630 my personal cameraman. 517 00:20:25,030 --> 00:20:27,129 When flying an aircraft equipped 518 00:20:27,130 --> 00:20:29,259 with a gimbal camera, it is possible 519 00:20:29,260 --> 00:20:31,629 to tell the autopilot to point the camera 520 00:20:31,630 --> 00:20:33,759 at a specific point on the ground. 521 00:20:33,760 --> 00:20:36,009 This feature is used very often by 522 00:20:36,010 --> 00:20:37,390 reporters and filmmakers. 523 00:20:39,280 --> 00:20:41,619 Waypoint navigation is, in my opinion, 524 00:20:41,620 --> 00:20:43,659 the minimal feature that needs to be 525 00:20:43,660 --> 00:20:45,819 provided before a project can claim 526 00:20:45,820 --> 00:20:47,410 that they support autonomous flight. 527 00:20:48,430 --> 00:20:50,929 This means it is you don't steer 528 00:20:50,930 --> 00:20:53,049 the aircraft yourself using 529 00:20:53,050 --> 00:20:53,949 a remote control. 530 00:20:53,950 --> 00:20:56,049 Instead, you mark GPS coordinates 531 00:20:56,050 --> 00:20:58,509 on a map and the aircraft can navigate 532 00:20:58,510 --> 00:20:59,589 between those points. 533 00:21:00,880 --> 00:21:03,279 An extension of the waypoint navigation 534 00:21:03,280 --> 00:21:05,049 our survey pattern flights. 535 00:21:05,050 --> 00:21:07,239 In this case, the operator makes an 536 00:21:07,240 --> 00:21:09,549 area, marks an area on the map 537 00:21:09,550 --> 00:21:11,709 and tells the aircraft to fly a pattern 538 00:21:11,710 --> 00:21:14,259 that will cover the whole area. 539 00:21:14,260 --> 00:21:16,419 That is a very useful that is very 540 00:21:16,420 --> 00:21:18,549 useful when you are generating maps, 541 00:21:18,550 --> 00:21:20,319 surveying crop fields, searching or 542 00:21:20,320 --> 00:21:22,389 studying tree canopy in the 543 00:21:22,390 --> 00:21:23,590 rainforest, for example. 544 00:21:25,270 --> 00:21:27,549 Almost all systems support some kind 545 00:21:27,550 --> 00:21:28,749 of geofencing. 546 00:21:28,750 --> 00:21:31,149 This means that if the aircraft leaves 547 00:21:31,150 --> 00:21:33,339 a virtually fenced off area, 548 00:21:33,340 --> 00:21:35,589 it is possible to perform some kind 549 00:21:35,590 --> 00:21:37,689 of an emergency maneuver 550 00:21:37,690 --> 00:21:39,909 depending on the regulations or emission 551 00:21:39,910 --> 00:21:41,979 requirements. It can then try to fly 552 00:21:41,980 --> 00:21:44,139 back home, switch off the engine 553 00:21:44,140 --> 00:21:46,389 and drop to the ground 554 00:21:46,390 --> 00:21:48,489 or stay put and gain altitude 555 00:21:48,490 --> 00:21:50,650 instead of continuing the mission. 556 00:21:52,480 --> 00:21:54,789 There is a lot of more mission 557 00:21:54,790 --> 00:21:57,129 actions that almost all mature project 558 00:21:57,130 --> 00:21:58,089 support by now. 559 00:21:58,090 --> 00:22:00,309 But these are mostly static 560 00:22:00,310 --> 00:22:03,069 flight plans and the conditions 561 00:22:03,070 --> 00:22:05,229 change. And if the conditions change, 562 00:22:05,230 --> 00:22:07,149 one has to have connection to the 563 00:22:07,150 --> 00:22:09,249 aircraft to perform its 564 00:22:09,250 --> 00:22:11,049 in-flight alterations to the mission 565 00:22:11,050 --> 00:22:12,050 plan. 566 00:22:12,620 --> 00:22:14,709 And improvement on that is using 567 00:22:14,710 --> 00:22:16,899 dynamic flight plans. 568 00:22:16,900 --> 00:22:19,209 One possible dynamic flight plan solution 569 00:22:19,210 --> 00:22:21,789 is implemented in the paparazzi platform. 570 00:22:21,790 --> 00:22:24,099 The first class citizen of a flight 571 00:22:24,100 --> 00:22:27,069 plan is not a waypoint, but a block. 572 00:22:27,070 --> 00:22:29,319 Each such block, consisting of multiple 573 00:22:29,320 --> 00:22:31,689 multiple stages, represents 574 00:22:31,690 --> 00:22:33,099 an action. 575 00:22:33,100 --> 00:22:35,529 The actions can be setting system 576 00:22:35,530 --> 00:22:38,289 variables, altering waypoints, executing 577 00:22:38,290 --> 00:22:40,599 autopilot functions or performing 578 00:22:40,600 --> 00:22:42,759 a jump to other blocks based 579 00:22:42,760 --> 00:22:44,589 on the system variables. 580 00:22:44,590 --> 00:22:46,899 This variables represent either sensors 581 00:22:46,900 --> 00:22:48,549 or counters. 582 00:22:48,550 --> 00:22:51,189 This solution represents a dynamic, 583 00:22:51,190 --> 00:22:53,409 domain specific language in which 584 00:22:53,410 --> 00:22:55,659 one can implement a dynamic flight 585 00:22:55,660 --> 00:22:56,919 plan. 586 00:22:56,920 --> 00:22:59,019 Each block is statically compiled see 587 00:22:59,020 --> 00:23:01,209 routine on the grounds as part 588 00:23:01,210 --> 00:23:03,429 of the Autopilot firmware, so 589 00:23:03,430 --> 00:23:05,559 the flight plan implementation is 590 00:23:05,560 --> 00:23:07,899 safe from accidental change in flight, 591 00:23:07,900 --> 00:23:10,209 but still can react 592 00:23:10,210 --> 00:23:13,029 based on conditions providing flexibility 593 00:23:13,030 --> 00:23:15,219 without compromising code size, 594 00:23:15,220 --> 00:23:16,600 restrictions and safety. 595 00:23:17,620 --> 00:23:19,899 A very similar system is implemented 596 00:23:19,900 --> 00:23:21,999 in the glue pilot, too. 597 00:23:22,000 --> 00:23:23,619 Here, I need to give them some props 598 00:23:23,620 --> 00:23:25,419 because they are saying on their website 599 00:23:25,420 --> 00:23:27,609 that it is exactly 600 00:23:27,610 --> 00:23:28,839 the way paparazzi did it. 601 00:23:30,220 --> 00:23:32,289 The open pilot team 602 00:23:32,290 --> 00:23:34,389 is working on another solution that 603 00:23:34,390 --> 00:23:35,979 they are planning to release in the 604 00:23:35,980 --> 00:23:38,109 future. It uses a Python 605 00:23:38,110 --> 00:23:40,209 interpreter running on board 606 00:23:40,210 --> 00:23:42,369 the aircraft that can manipulate the 607 00:23:42,370 --> 00:23:44,799 waypoints and probably also 608 00:23:44,800 --> 00:23:46,779 the flight vector. But we will see how 609 00:23:46,780 --> 00:23:49,179 that works when that feature 610 00:23:49,180 --> 00:23:51,579 is documented and released to the public. 611 00:23:56,530 --> 00:23:59,049 There are many more things that 612 00:23:59,050 --> 00:24:01,689 we already can do, but 613 00:24:01,690 --> 00:24:03,999 this is how far we've got in the past 614 00:24:04,000 --> 00:24:05,529 10 years. 615 00:24:05,530 --> 00:24:07,719 Now let's try to predict 616 00:24:07,720 --> 00:24:09,309 a little bit into the future. 617 00:24:09,310 --> 00:24:11,229 Or rather, let me tell you what I hope 618 00:24:11,230 --> 00:24:12,579 you will be working on next. 619 00:24:14,540 --> 00:24:16,789 Let us start with a great example of what 620 00:24:16,790 --> 00:24:18,379 it's working very well so far. 621 00:24:18,380 --> 00:24:20,539 Paparazzi Sumo is, 622 00:24:20,540 --> 00:24:22,639 for example, that I have here on 623 00:24:22,640 --> 00:24:23,629 the stage with me. 624 00:24:23,630 --> 00:24:25,549 It's the aircraft here. 625 00:24:33,830 --> 00:24:36,049 It is it 626 00:24:36,050 --> 00:24:38,269 has been used for quite a while now by 627 00:24:38,270 --> 00:24:40,699 metrological research groups 628 00:24:40,700 --> 00:24:43,069 as a reusable weather balloon 629 00:24:44,450 --> 00:24:46,609 with basic training, the researchers that 630 00:24:46,610 --> 00:24:48,679 never flew in RC airplane 631 00:24:48,680 --> 00:24:50,929 before before it can take 632 00:24:50,930 --> 00:24:53,329 the soon launch it and gather humidity 633 00:24:53,330 --> 00:24:55,399 and temperature and wind information 634 00:24:55,400 --> 00:24:57,469 in our columns, thanks 635 00:24:57,470 --> 00:24:59,299 to the efforts of the people like Martin 636 00:24:59,300 --> 00:25:00,769 Miller. It is. 637 00:25:00,770 --> 00:25:02,959 It has become a standard tool that is 638 00:25:02,960 --> 00:25:04,669 as important as about balloons 639 00:25:04,670 --> 00:25:06,079 themselves. 640 00:25:06,080 --> 00:25:08,179 Based on that, I believe we 641 00:25:08,180 --> 00:25:10,279 will see more drones used as 642 00:25:10,280 --> 00:25:12,349 sensor platforms. 643 00:25:12,350 --> 00:25:14,569 For that. I hope we will see more people 644 00:25:14,570 --> 00:25:17,269 like Martin Miller, who will make 645 00:25:17,270 --> 00:25:19,549 sure the solutions are standardized 646 00:25:19,550 --> 00:25:21,589 and deliver very repetitive results. 647 00:25:24,130 --> 00:25:26,140 On the other side of the spectrum. 648 00:25:29,740 --> 00:25:32,259 I was shocked to hear that a simple 649 00:25:32,260 --> 00:25:34,269 seeming competition, the outback 650 00:25:34,270 --> 00:25:36,399 challenge is still unclaimed. 651 00:25:36,400 --> 00:25:38,529 The mission consists of taking off 652 00:25:38,530 --> 00:25:41,019 from a runway flying to a field 653 00:25:41,020 --> 00:25:43,629 that is 9.3 kilometers away. 654 00:25:43,630 --> 00:25:45,819 Searching as 7.5 square 655 00:25:45,820 --> 00:25:47,889 kilometer area for a bright 656 00:25:47,890 --> 00:25:49,959 yellow dummy and then 657 00:25:49,960 --> 00:25:52,899 dropping a half liter bottle of water. 658 00:25:52,900 --> 00:25:54,670 It's a bit bigger than this 659 00:25:57,130 --> 00:25:59,469 to the designated position. 660 00:25:59,470 --> 00:26:01,779 This sounds like a very simple job, but 661 00:26:01,780 --> 00:26:04,509 since the first competition in 2009, 662 00:26:04,510 --> 00:26:06,789 the main prize is still unclaimed. 663 00:26:08,020 --> 00:26:10,539 Teams were getting very, very close, but 664 00:26:10,540 --> 00:26:13,029 not close enough to 665 00:26:13,030 --> 00:26:14,649 claim the main prize. 666 00:26:14,650 --> 00:26:16,509 I have been told that the main reasons 667 00:26:16,510 --> 00:26:18,519 why teams fail is because the rules and 668 00:26:18,520 --> 00:26:20,949 requirements of the mission are overly 669 00:26:20,950 --> 00:26:21,950 demanding. 670 00:26:22,840 --> 00:26:24,969 So let's hope that the big prize will 671 00:26:24,970 --> 00:26:27,279 be claimed this year. 672 00:26:27,280 --> 00:26:29,499 But this has been made clear 673 00:26:29,500 --> 00:26:31,599 that the civil use drones are 674 00:26:31,600 --> 00:26:35,019 still very much in their infancy. 675 00:26:35,020 --> 00:26:36,879 Drone technology, as well as the 676 00:26:36,880 --> 00:26:39,009 regulations regarding 677 00:26:39,010 --> 00:26:41,289 them, are in need of advancement 678 00:26:41,290 --> 00:26:43,719 in order to mature. 679 00:26:43,720 --> 00:26:45,969 There is still a lot of pioneering work 680 00:26:45,970 --> 00:26:46,970 to be done. 681 00:26:49,330 --> 00:26:50,799 One striking development is 682 00:26:50,800 --> 00:26:52,179 miniaturization. 683 00:26:52,180 --> 00:26:55,359 There are plenty of very cheap and 684 00:26:55,360 --> 00:26:58,059 whatever quality toys in this area, 685 00:26:58,060 --> 00:27:00,219 but I believe this will 686 00:27:00,220 --> 00:27:02,889 be a starting point for an interesting 687 00:27:02,890 --> 00:27:05,079 burst of innovation, just like UFO 688 00:27:05,080 --> 00:27:06,130 did during its time. 689 00:27:07,610 --> 00:27:09,799 There are already a few of 690 00:27:09,800 --> 00:27:11,719 the first really cool open source 691 00:27:11,720 --> 00:27:13,969 projects emerging, for example, Crazy Fly 692 00:27:13,970 --> 00:27:14,970 by Bit Grace. 693 00:27:15,860 --> 00:27:18,139 It comes with all the basic 10 694 00:27:18,140 --> 00:27:20,389 degrees of measurement sensors and 695 00:27:20,390 --> 00:27:21,859 their own custom radio 696 00:27:23,210 --> 00:27:25,039 that you can connect to your laptop. 697 00:27:25,040 --> 00:27:27,109 The API is very well documented 698 00:27:27,110 --> 00:27:28,819 and the source code is released under 699 00:27:28,820 --> 00:27:30,349 open source license. 700 00:27:30,350 --> 00:27:32,449 This makes it the device very 701 00:27:32,450 --> 00:27:34,549 compelling to anyone interested in 702 00:27:34,550 --> 00:27:36,379 experimenting with drones from the 703 00:27:36,380 --> 00:27:37,730 comfort of their chair. 704 00:27:39,510 --> 00:27:41,699 People, people are already doing very 705 00:27:41,700 --> 00:27:43,439 interesting things with it, like 706 00:27:43,440 --> 00:27:45,479 controlling it, using Microsoft Kinect or 707 00:27:45,480 --> 00:27:47,639 adding sensors, so it bounces off 708 00:27:47,640 --> 00:27:49,949 the walls without touching them or 709 00:27:49,950 --> 00:27:52,079 adding their own 3D print and custom 710 00:27:52,080 --> 00:27:54,029 parts to the airframe. 711 00:27:54,030 --> 00:27:56,339 I think we will be seeing very 712 00:27:56,340 --> 00:27:58,109 cool stuff emerging based on this 713 00:27:58,110 --> 00:27:59,110 project. 714 00:28:00,540 --> 00:28:02,429 Other project that I am closely involved 715 00:28:02,430 --> 00:28:04,709 in is the development of Liza 716 00:28:04,710 --> 00:28:06,779 s in collaboration with the Technical 717 00:28:06,780 --> 00:28:08,999 University in Delft, the Liza, 718 00:28:09,000 --> 00:28:10,979 as is just the brain electronics. 719 00:28:10,980 --> 00:28:14,189 So just the pure autopilot of a UAV, 720 00:28:14,190 --> 00:28:16,739 I designed it to be as small as possible, 721 00:28:16,740 --> 00:28:19,289 making the size of a medium 722 00:28:19,290 --> 00:28:21,479 postage stamp about two point 723 00:28:21,480 --> 00:28:23,339 two by two centimeters. 724 00:28:23,340 --> 00:28:25,739 It contains the 10 degrees of measurement 725 00:28:25,740 --> 00:28:29,039 sensors, a powerful arm microcontroller 726 00:28:29,040 --> 00:28:31,229 with half a megabyte of flash, as well 727 00:28:31,230 --> 00:28:33,479 as a GPS receiver module while weighing 728 00:28:33,480 --> 00:28:34,889 only two point five grams. 729 00:28:34,890 --> 00:28:37,349 I have it here on the stage with me, 730 00:28:37,350 --> 00:28:39,720 so maybe it will be even smaller. 731 00:28:47,550 --> 00:28:48,550 Yeah. 732 00:28:49,670 --> 00:28:50,670 So. 733 00:28:52,080 --> 00:28:53,669 Just like Crazy Fly. 734 00:28:53,670 --> 00:28:55,559 I also developed a custom radio. 735 00:28:55,560 --> 00:28:57,749 The main reason was to 736 00:28:57,750 --> 00:29:00,119 save some more space and wait. 737 00:29:00,120 --> 00:29:02,249 The difference between super bitter and 738 00:29:02,250 --> 00:29:04,769 crazy fly solution is the compatibility 739 00:29:04,770 --> 00:29:07,619 with the Spectrum RC control system. 740 00:29:07,620 --> 00:29:09,749 This solutions allows us to 741 00:29:09,750 --> 00:29:11,759 have telemetry with the laptop, computer 742 00:29:11,760 --> 00:29:14,069 or tablet and 743 00:29:14,070 --> 00:29:16,229 standard model aircraft controller 744 00:29:16,230 --> 00:29:18,329 at the same time using only one 745 00:29:18,330 --> 00:29:19,739 module on the aircraft. 746 00:29:19,740 --> 00:29:21,779 Normally, these two channels are 747 00:29:21,780 --> 00:29:23,729 implemented using two separate radio 748 00:29:23,730 --> 00:29:24,730 systems. 749 00:29:27,380 --> 00:29:29,449 The initial motivation was an auto 750 00:29:29,450 --> 00:29:31,489 pilot for a low cost micro helicopter 751 00:29:31,490 --> 00:29:34,429 airframe as a retrofit solution, 752 00:29:34,430 --> 00:29:36,289 providing additional lead to this 753 00:29:36,290 --> 00:29:38,149 standard tandem. 754 00:29:38,150 --> 00:29:40,999 Also a GPS receiver module, 755 00:29:41,000 --> 00:29:43,729 making it a perfect fully autonomous 756 00:29:43,730 --> 00:29:45,709 for fully autonomous flights. 757 00:29:45,710 --> 00:29:48,049 And because it is just a pure brain 758 00:29:48,050 --> 00:29:50,119 part of the system, it makes it easy 759 00:29:50,120 --> 00:29:52,219 to mount on other airframe types do like 760 00:29:52,220 --> 00:29:54,139 Quadro copters or airplanes like this 761 00:29:54,140 --> 00:29:55,910 tiny things from China, for example. 762 00:29:58,320 --> 00:30:00,389 So you can just retrofitted 763 00:30:00,390 --> 00:30:02,069 with the with the board, and you should 764 00:30:02,070 --> 00:30:04,200 be able to fly autonomously with it. 765 00:30:08,910 --> 00:30:11,279 As I mentioned, we mounted aGPS 766 00:30:11,280 --> 00:30:13,319 on the laser as making it useful for 767 00:30:13,320 --> 00:30:15,299 outdoor applications. 768 00:30:15,300 --> 00:30:17,519 It is quite still not 769 00:30:17,520 --> 00:30:20,129 quite accurate as we would like, 770 00:30:20,130 --> 00:30:21,809 but thanks to companies like Swift 771 00:30:21,810 --> 00:30:23,999 Navigation, we will be getting a sub 772 00:30:24,000 --> 00:30:26,759 1000 AHTC GPS systems 773 00:30:26,760 --> 00:30:29,069 that will provide a centimeter 774 00:30:29,070 --> 00:30:31,439 accuracy at 50 hertz. 775 00:30:31,440 --> 00:30:33,539 This is quite an improvement from current 776 00:30:33,540 --> 00:30:35,819 GPS solutions that provide best 777 00:30:35,820 --> 00:30:38,819 case accuracy of three meters 778 00:30:38,820 --> 00:30:39,900 at 10 hertz. 779 00:30:41,350 --> 00:30:43,959 This is a significant step forward 780 00:30:43,960 --> 00:30:46,529 for outdoor applications, for example, 781 00:30:46,530 --> 00:30:48,819 from small separation swarms 782 00:30:48,820 --> 00:30:50,529 where you fly the aircraft really close 783 00:30:50,530 --> 00:30:52,839 to each other and you can draw things in 784 00:30:52,840 --> 00:30:55,299 in air with them, for example, 785 00:30:55,300 --> 00:30:57,609 or fully autonomous aerobatic 786 00:30:57,610 --> 00:31:00,159 flight, because this module also 787 00:31:00,160 --> 00:31:02,259 supports really high 788 00:31:02,260 --> 00:31:03,189 accelerations. 789 00:31:03,190 --> 00:31:05,049 What you have big problems with 790 00:31:05,050 --> 00:31:06,069 commercial modules 791 00:31:07,720 --> 00:31:09,460 or this is also a commercial module, but 792 00:31:10,510 --> 00:31:12,339 the modules that you can currently buy on 793 00:31:12,340 --> 00:31:13,340 the market 794 00:31:14,470 --> 00:31:17,529 or precision farming mapping and so on. 795 00:31:17,530 --> 00:31:20,559 But what about indoor applications? 796 00:31:20,560 --> 00:31:22,989 Sadly, indoor applications autonomous 797 00:31:22,990 --> 00:31:25,749 flight is still very, very challenging. 798 00:31:25,750 --> 00:31:27,819 And there's there are some 799 00:31:27,820 --> 00:31:30,309 solutions available, mostly for research 800 00:31:30,310 --> 00:31:32,289 groups that with really, really deep 801 00:31:32,290 --> 00:31:33,290 pockets. 802 00:31:34,030 --> 00:31:36,129 For example, infrared camera 803 00:31:36,130 --> 00:31:37,130 tracking systems. 804 00:31:38,240 --> 00:31:40,309 These are the same systems used 805 00:31:40,310 --> 00:31:42,529 to capture the motion of actors for 806 00:31:42,530 --> 00:31:44,869 3-D movies like Gollum four 807 00:31:44,870 --> 00:31:46,039 from Hobbit, for example. 808 00:31:47,540 --> 00:31:48,439 They're great. 809 00:31:48,440 --> 00:31:50,749 Very accurate and fast 810 00:31:50,750 --> 00:31:52,729 thanks to the solutions like this. 811 00:31:52,730 --> 00:31:55,079 Groups like Grass at Pennsylvania 812 00:31:55,080 --> 00:31:57,229 and University and idiocy 813 00:31:57,230 --> 00:31:59,359 at E.T.A. Sir, it can create 814 00:31:59,360 --> 00:32:01,729 incredibly amazing demos. 815 00:32:01,730 --> 00:32:03,889 I bet you have seen their videos of swarm 816 00:32:03,890 --> 00:32:05,839 flights snapped, optimize flight planning 817 00:32:05,840 --> 00:32:07,609 or ball juggling Commodore copters. 818 00:32:08,810 --> 00:32:11,059 The problem is that an infrared tracking 819 00:32:11,060 --> 00:32:13,609 system like this is a very expensive 820 00:32:13,610 --> 00:32:16,009 and because of this out of reach or even 821 00:32:16,010 --> 00:32:18,349 the very rich hobbyists 822 00:32:18,350 --> 00:32:20,209 or less wealthy universities. 823 00:32:21,680 --> 00:32:23,899 Beside the cost, one has to dedicate 824 00:32:23,900 --> 00:32:26,089 a room for the micro UAV in 825 00:32:26,090 --> 00:32:28,219 order to mount the cameras in the 826 00:32:28,220 --> 00:32:30,559 room at very accurate positions. 827 00:32:30,560 --> 00:32:32,269 You can't just go with your drone 828 00:32:32,270 --> 00:32:34,729 anywhere and perform autonomous flight. 829 00:32:34,730 --> 00:32:36,529 So I'm throwing it out there. 830 00:32:37,700 --> 00:32:39,919 We need to work on some solutions 831 00:32:39,920 --> 00:32:42,289 that we will have the following feature 832 00:32:42,290 --> 00:32:45,020 set high accuracy. 833 00:32:46,590 --> 00:32:47,760 Relatively cheap. 834 00:32:49,200 --> 00:32:51,509 No environment modification needed. 835 00:32:52,740 --> 00:32:54,570 Light and very small. 836 00:32:56,180 --> 00:32:58,279 Low energy and computational 837 00:32:58,280 --> 00:33:00,559 requirements, there are 838 00:33:00,560 --> 00:33:02,809 many approaches to solving 839 00:33:02,810 --> 00:33:04,179 this problem. 840 00:33:04,180 --> 00:33:06,829 Maybe laser based radar, maybe 841 00:33:06,830 --> 00:33:08,390 computer vision, who knows? 842 00:33:10,480 --> 00:33:11,829 There are some very promising 843 00:33:11,830 --> 00:33:13,519 technologies on the horizon. 844 00:33:13,520 --> 00:33:15,699 One of them comes from a company called 845 00:33:15,700 --> 00:33:17,379 Technical Illusions. 846 00:33:17,380 --> 00:33:19,479 They are developing a new kind of 847 00:33:19,480 --> 00:33:22,059 virtual reality 3D glasses. 848 00:33:22,060 --> 00:33:24,909 The thing in the middle of the glasses 849 00:33:24,910 --> 00:33:27,069 is a tiny cell phone camera connected 850 00:33:27,070 --> 00:33:28,269 to an FPGA. 851 00:33:28,270 --> 00:33:30,339 They also will make a metal 852 00:33:30,340 --> 00:33:32,739 gate tariff, a version of it to 853 00:33:32,740 --> 00:33:35,949 bring down the cost 854 00:33:35,950 --> 00:33:38,049 in PCs, as well as 855 00:33:38,050 --> 00:33:39,190 a need of power. 856 00:33:40,270 --> 00:33:42,639 It can track a blinking infrared 857 00:33:42,640 --> 00:33:44,739 led pattern at 100 frames per 858 00:33:44,740 --> 00:33:47,079 second, providing a submillimetre, 859 00:33:47,080 --> 00:33:49,629 accurate position and rotation 860 00:33:49,630 --> 00:33:51,039 of the user's head. 861 00:33:51,040 --> 00:33:52,959 I am looking forward of mounting one of 862 00:33:52,960 --> 00:33:54,039 those on a nano drone. 863 00:33:55,570 --> 00:33:58,239 Another solution comes from two Delft. 864 00:33:58,240 --> 00:34:00,609 It was released just a few days ago. 865 00:34:00,610 --> 00:34:03,729 It is a tiny stereoscopic vision module 866 00:34:03,730 --> 00:34:05,859 from four. They are micro 867 00:34:05,860 --> 00:34:07,929 flapping wing platform called Delphi. 868 00:34:09,230 --> 00:34:11,479 The system is based on the parallax 869 00:34:11,480 --> 00:34:13,698 effect of binocular vision, 870 00:34:13,699 --> 00:34:15,948 just like we humans and 871 00:34:15,949 --> 00:34:18,919 every animal with front facing eye does 872 00:34:18,920 --> 00:34:20,988 using two cameras, this module can 873 00:34:20,989 --> 00:34:23,119 also see depth not only for a flat 874 00:34:23,120 --> 00:34:25,189 image. It is not a totally 875 00:34:25,190 --> 00:34:27,439 new concept, and what it is 876 00:34:27,440 --> 00:34:28,908 is the size. 877 00:34:28,909 --> 00:34:30,948 As you can see, it is pretty small and 878 00:34:30,949 --> 00:34:32,149 thus light. 879 00:34:32,150 --> 00:34:33,859 It can detect obstacles. 880 00:34:33,860 --> 00:34:36,169 And according to Mavela, it is also quite 881 00:34:36,170 --> 00:34:37,170 affordable. 882 00:34:38,120 --> 00:34:40,579 It enables to Dell fly to and navigate 883 00:34:40,580 --> 00:34:41,809 autonomously. 884 00:34:41,810 --> 00:34:43,638 Definitely. The videos look very 885 00:34:43,639 --> 00:34:45,799 promising, so here is like a time 886 00:34:45,800 --> 00:34:47,959 lapse recording of the 887 00:34:47,960 --> 00:34:49,579 position of the aircraft, how it is 888 00:34:49,580 --> 00:34:52,309 flying in a room completely with no 889 00:34:52,310 --> 00:34:53,840 human control input. 890 00:34:57,160 --> 00:34:59,560 I think we are almost out of time, so. 891 00:35:01,300 --> 00:35:03,399 So let me let me 892 00:35:03,400 --> 00:35:05,709 leave you with a thought in the 893 00:35:05,710 --> 00:35:07,779 world of PC software. 894 00:35:07,780 --> 00:35:10,749 We know about continuous integration, 895 00:35:10,750 --> 00:35:13,089 coding standards, static code 896 00:35:13,090 --> 00:35:14,500 tests and so on. 897 00:35:16,390 --> 00:35:18,759 It is really hard to embed 898 00:35:18,760 --> 00:35:21,099 for embedded systems and thus 899 00:35:21,100 --> 00:35:22,899 for all drone types. 900 00:35:22,900 --> 00:35:24,969 I know many projects out there do 901 00:35:24,970 --> 00:35:27,039 software compilation tests 902 00:35:27,040 --> 00:35:28,809 and static code analysis on their 903 00:35:28,810 --> 00:35:29,810 software. 904 00:35:30,310 --> 00:35:32,529 But something I know we should work on 905 00:35:32,530 --> 00:35:35,259 is better reliability testing and flights 906 00:35:35,260 --> 00:35:37,389 for flight software we put 907 00:35:37,390 --> 00:35:39,069 on our toys. 908 00:35:39,070 --> 00:35:41,109 I know this will not happen overnight, 909 00:35:41,110 --> 00:35:43,179 but it is something we should 910 00:35:43,180 --> 00:35:45,219 make a priority of. 911 00:35:45,220 --> 00:35:47,409 I know this is not as much fun 912 00:35:47,410 --> 00:35:49,149 as flying them or developing new 913 00:35:49,150 --> 00:35:51,549 algorithms, but I would be. 914 00:35:51,550 --> 00:35:53,709 It would be a huge benefit not only in 915 00:35:53,710 --> 00:35:56,169 this field, but other embedded system 916 00:35:56,170 --> 00:35:58,239 areas to be able to do better 917 00:35:58,240 --> 00:36:00,070 regression and reliability testing. 918 00:36:01,660 --> 00:36:04,149 I know of the fact that 919 00:36:04,150 --> 00:36:06,249 there are some approaches provided 920 00:36:06,250 --> 00:36:07,809 as part of commercial development 921 00:36:07,810 --> 00:36:10,479 packages. What we need, though, 922 00:36:10,480 --> 00:36:13,299 are open source solutions for automatic 923 00:36:13,300 --> 00:36:15,429 regression and unit testing tools for 924 00:36:15,430 --> 00:36:16,599 embedded systems. 925 00:36:20,130 --> 00:36:22,499 If anyone here would like to volunteer 926 00:36:22,500 --> 00:36:24,599 any solutions, that's why I'm telling 927 00:36:24,600 --> 00:36:26,789 you that I would 928 00:36:26,790 --> 00:36:29,219 really love to hear from you. 929 00:36:29,220 --> 00:36:31,349 Thank you for your time and I 930 00:36:31,350 --> 00:36:33,479 think we will be going to questions 931 00:36:33,480 --> 00:36:34,480 now. I guess. 932 00:36:44,360 --> 00:36:46,609 As always, we have four mikes, two 933 00:36:46,610 --> 00:36:48,799 there, two there, just line up. 934 00:36:48,800 --> 00:36:50,959 Also IAC and Twitter. 935 00:36:50,960 --> 00:36:52,579 We already have a question there. 936 00:36:52,580 --> 00:36:54,169 Go ahead, please. 937 00:36:54,170 --> 00:36:56,239 OK, so all the numbers survey pit 938 00:36:56,240 --> 00:36:58,639 floods pretty useful for producing 939 00:36:58,640 --> 00:37:00,949 aerial photos, for example, for open 940 00:37:00,950 --> 00:37:02,059 street maps where you can 941 00:37:03,140 --> 00:37:05,179 draw a map based on these photos. 942 00:37:06,620 --> 00:37:08,539 Are there right now, economically 943 00:37:08,540 --> 00:37:10,369 affordable solutions for that? 944 00:37:10,370 --> 00:37:12,439 And can you say something 945 00:37:12,440 --> 00:37:14,629 about the legal complications 946 00:37:14,630 --> 00:37:15,630 there? 947 00:37:16,820 --> 00:37:19,009 So affordable 948 00:37:19,010 --> 00:37:20,839 solutions? The most affordable solution 949 00:37:20,840 --> 00:37:23,149 is definitely to build it yourself from 950 00:37:23,150 --> 00:37:24,800 some artsy parts 951 00:37:26,540 --> 00:37:28,669 a that you just buy off 952 00:37:28,670 --> 00:37:31,009 the shelf and then put an autopilot on it 953 00:37:31,010 --> 00:37:33,439 from any of those projects, 954 00:37:33,440 --> 00:37:34,369 like paparazzi. 955 00:37:34,370 --> 00:37:36,169 In this case, you can buy the electronics 956 00:37:36,170 --> 00:37:38,419 and put them in. 957 00:37:38,420 --> 00:37:40,219 I'm pretty sure this is more affordable 958 00:37:40,220 --> 00:37:42,469 than buying an off the shelf, fully 959 00:37:42,470 --> 00:37:44,749 integrated and solution 960 00:37:46,610 --> 00:37:48,689 the the 961 00:37:48,690 --> 00:37:50,869 the so basically that 962 00:37:50,870 --> 00:37:52,849 it's there. So this sumo project, for 963 00:37:52,850 --> 00:37:54,829 example, is one of those that are built 964 00:37:54,830 --> 00:37:57,049 by by a by a group 965 00:37:57,050 --> 00:37:58,669 of people that are using an Open-Source 966 00:37:58,670 --> 00:38:00,309 platform for this. 967 00:38:00,310 --> 00:38:02,569 And there 968 00:38:02,570 --> 00:38:04,119 are other solutions. 969 00:38:04,120 --> 00:38:05,120 I think 970 00:38:07,630 --> 00:38:09,829 our drone, the company, 971 00:38:09,830 --> 00:38:11,869 the parrots, they bought something there. 972 00:38:11,870 --> 00:38:13,459 I don't know how affordable they are 973 00:38:13,460 --> 00:38:15,559 because I'm completely uninterested 974 00:38:15,560 --> 00:38:17,179 in buying anything from the shelf 975 00:38:17,180 --> 00:38:19,879 anyways. So I don't know. 976 00:38:19,880 --> 00:38:21,829 I rather build it myself anyways and to 977 00:38:21,830 --> 00:38:23,869 exactly suited the application. 978 00:38:23,870 --> 00:38:26,179 And it definitely is fully doable 979 00:38:26,180 --> 00:38:28,219 with the paparazzi platform, and I'm 980 00:38:28,220 --> 00:38:29,629 pretty sure that others have some 981 00:38:29,630 --> 00:38:31,159 solutions for that too. 982 00:38:31,160 --> 00:38:32,690 The legal implications 983 00:38:34,010 --> 00:38:36,199 this is this is 984 00:38:36,200 --> 00:38:37,909 a this is difficult to say. 985 00:38:37,910 --> 00:38:40,039 It's like I'm not a lawyer, 986 00:38:40,040 --> 00:38:42,349 and that's why I'm not talking about 987 00:38:42,350 --> 00:38:44,479 the legal stuff at all because 988 00:38:44,480 --> 00:38:46,609 I know what I may 989 00:38:46,610 --> 00:38:48,799 do, where I may fly, and 990 00:38:48,800 --> 00:38:50,630 I am happy that I grasped that 991 00:38:52,190 --> 00:38:54,319 and getting into like, what 992 00:38:54,320 --> 00:38:55,879 are the regulations? You have to really 993 00:38:55,880 --> 00:38:58,939 look locally where you are, what 994 00:38:58,940 --> 00:39:00,919 right, what rights you have, who you have 995 00:39:00,920 --> 00:39:02,569 talked to talk to. 996 00:39:02,570 --> 00:39:04,369 It's like still everything in the 997 00:39:04,370 --> 00:39:06,889 infancy. As I said in the talk, it's 998 00:39:06,890 --> 00:39:09,409 we are still working on the regulation 999 00:39:09,410 --> 00:39:11,629 side of things, as you everyone here 1000 00:39:11,630 --> 00:39:12,829 might know. But 1001 00:39:14,450 --> 00:39:16,849 but it's like we as a community 1002 00:39:16,850 --> 00:39:18,619 from the open source side, we have to 1003 00:39:18,620 --> 00:39:20,599 really, really push hard so that the 1004 00:39:20,600 --> 00:39:22,879 regulations make sense because what 1005 00:39:22,880 --> 00:39:25,129 is seems to be coming is really 1006 00:39:25,130 --> 00:39:26,959 horrible. And but 1007 00:39:27,980 --> 00:39:30,409 I'm speaking to the choir here, right? 1008 00:39:30,410 --> 00:39:31,879 OK, thank you. 1009 00:39:31,880 --> 00:39:33,709 Number three, please. 1010 00:39:33,710 --> 00:39:35,809 I was also asking, I'm going to 1011 00:39:35,810 --> 00:39:37,819 ask about the legal implications in 1012 00:39:37,820 --> 00:39:39,949 regards to arrest and may 1013 00:39:39,950 --> 00:39:41,659 go to or altitudes you can fly. 1014 00:39:41,660 --> 00:39:43,759 Maybe there's a certain 1015 00:39:43,760 --> 00:39:45,589 space where you can fly under a certain 1016 00:39:45,590 --> 00:39:47,449 altitude. Do you know at least where we 1017 00:39:47,450 --> 00:39:48,859 can research that sort of stuff? 1018 00:39:48,860 --> 00:39:50,959 What resources do you use to find out 1019 00:39:50,960 --> 00:39:52,429 about that? 1020 00:39:52,430 --> 00:39:52,739 Yeah. 1021 00:39:52,740 --> 00:39:55,069 Well, it's like 1022 00:39:55,070 --> 00:39:56,629 Google for it. But yeah, no. 1023 00:39:56,630 --> 00:39:58,789 It's like in 1024 00:39:58,790 --> 00:40:00,889 there is stick here in Germany, there 1025 00:40:00,890 --> 00:40:03,769 is a club for 1026 00:40:03,770 --> 00:40:05,149 RC airplane fliers. 1027 00:40:05,150 --> 00:40:06,769 This is basically the rule so that you 1028 00:40:06,770 --> 00:40:09,079 will apply to most, most of people that 1029 00:40:09,080 --> 00:40:10,489 are trying to do this. 1030 00:40:10,490 --> 00:40:12,769 The problem is exactly the regulation 1031 00:40:12,770 --> 00:40:14,779 part of things is the problem that as 1032 00:40:14,780 --> 00:40:16,819 soon as it is not a hobby anymore, 1033 00:40:16,820 --> 00:40:19,159 there's not really any regulations 1034 00:40:19,160 --> 00:40:21,139 available. And if they are available and 1035 00:40:21,140 --> 00:40:23,059 people think that they know what the 1036 00:40:23,060 --> 00:40:25,169 regulations should be, it is. 1037 00:40:25,170 --> 00:40:27,379 No, you may not and please 1038 00:40:27,380 --> 00:40:29,599 don't compete with the big guys because 1039 00:40:29,600 --> 00:40:30,499 we have the money. 1040 00:40:30,500 --> 00:40:32,029 So basically, that's what it ends up 1041 00:40:32,030 --> 00:40:34,819 being for the altitude part of things. 1042 00:40:34,820 --> 00:40:37,009 It's I think 1043 00:40:37,010 --> 00:40:39,559 in Germany, it's like 500 meters 1044 00:40:39,560 --> 00:40:41,299 altitude maximum 1045 00:40:41,300 --> 00:40:43,159 grant or an off the 1046 00:40:43,160 --> 00:40:44,239 ground. 1047 00:40:44,240 --> 00:40:46,729 So AGL, not 1048 00:40:46,730 --> 00:40:47,899 not for altitude. 1049 00:40:47,900 --> 00:40:50,149 So if you are in the mountains above 1050 00:40:50,150 --> 00:40:52,279 500 meters, you still may fly 500 1051 00:40:52,280 --> 00:40:53,329 meters above the mountain. 1052 00:40:53,330 --> 00:40:55,729 But about 1053 00:40:55,730 --> 00:40:57,539 this is only far away from an airport. 1054 00:40:57,540 --> 00:40:59,689 As far as I know, if you're near and 1055 00:40:59,690 --> 00:41:01,789 near an airport, you, I think, 1056 00:41:01,790 --> 00:41:03,859 are very restricted to 100 meters or 1057 00:41:03,860 --> 00:41:06,019 something, but it's similar 1058 00:41:06,020 --> 00:41:08,149 rules apply. Also in the U.S., it's like 1059 00:41:08,150 --> 00:41:10,459 400 feet maximum 1060 00:41:10,460 --> 00:41:11,749 altitude. 1061 00:41:11,750 --> 00:41:14,809 And so if you are below five, um, 1062 00:41:14,810 --> 00:41:16,909 am I right, five kilos, then 1063 00:41:16,910 --> 00:41:19,129 you may fly also outside of a designated 1064 00:41:19,130 --> 00:41:20,209 field. Yeah. 1065 00:41:20,210 --> 00:41:21,379 So thanks. 1066 00:41:21,380 --> 00:41:23,029 So we offer Amazon lawyers to sort it 1067 00:41:23,030 --> 00:41:25,039 sort of things out for us and we may fly 1068 00:41:25,040 --> 00:41:26,209 to. 1069 00:41:26,210 --> 00:41:27,619 Yeah, that wasn't a nice gag. 1070 00:41:27,620 --> 00:41:28,339 What they did there. 1071 00:41:28,340 --> 00:41:30,140 Yeah, it's like 1072 00:41:31,190 --> 00:41:31,579 No. 1073 00:41:31,580 --> 00:41:33,169 Four, please. 1074 00:41:33,170 --> 00:41:34,170 Hi. 1075 00:41:35,210 --> 00:41:37,339 If I understood you correctly, you said 1076 00:41:37,340 --> 00:41:39,169 you're only working on free software 1077 00:41:39,170 --> 00:41:41,090 platforms and. 1078 00:41:42,160 --> 00:41:43,160 I was 1079 00:41:44,380 --> 00:41:46,479 wondering if you think about 1080 00:41:46,480 --> 00:41:49,989 introducing nonmilitary 1081 00:41:49,990 --> 00:41:52,300 classes to those licenses. 1082 00:41:53,320 --> 00:41:54,819 Well, if you add them, you are not 1083 00:41:54,820 --> 00:41:57,069 Open-Source anymore, right, because you 1084 00:41:57,070 --> 00:42:00,609 are excluding a group, so you may not 1085 00:42:00,610 --> 00:42:02,859 discriminate anyone if 1086 00:42:02,860 --> 00:42:04,369 you want to be really open source. 1087 00:42:04,370 --> 00:42:06,609 So adding a nonmilitary rule to 1088 00:42:06,610 --> 00:42:08,859 it is against that rule. 1089 00:42:08,860 --> 00:42:10,780 Thus, you are not really open source. 1090 00:42:12,250 --> 00:42:13,959 So this is my take on this. 1091 00:42:13,960 --> 00:42:16,059 And yes, I would love to block 1092 00:42:16,060 --> 00:42:18,039 the military. But on the other hand, they 1093 00:42:18,040 --> 00:42:19,719 have much better choice anyway, so it 1094 00:42:19,720 --> 00:42:20,720 doesn't matter. 1095 00:42:22,700 --> 00:42:25,369 One more from the internet, please. 1096 00:42:25,370 --> 00:42:27,529 OK, how secure are the 1097 00:42:27,530 --> 00:42:29,629 solutions you presented for controlling a 1098 00:42:29,630 --> 00:42:31,279 drone against the though? 1099 00:42:31,280 --> 00:42:33,399 So how easy is it to take control over 1100 00:42:33,400 --> 00:42:35,719 a drone that my, yeah, my 1101 00:42:35,720 --> 00:42:38,359 pal is controlling right now? 1102 00:42:38,360 --> 00:42:40,579 So this is what I mentioned. 1103 00:42:40,580 --> 00:42:42,199 Also in the talk, it is a problem 1104 00:42:42,200 --> 00:42:44,719 currently. It's like it's completely 1105 00:42:44,720 --> 00:42:46,279 non encrypted. It's like, basically we 1106 00:42:46,280 --> 00:42:48,379 are at this stage, like the internet 1107 00:42:48,380 --> 00:42:50,989 started out a practically is still 1108 00:42:50,990 --> 00:42:52,969 it's like all unencrypted stuff running 1109 00:42:52,970 --> 00:42:54,119 everywhere around. 1110 00:42:54,120 --> 00:42:56,179 So like you run, there 1111 00:42:56,180 --> 00:42:58,369 was a great example from the hack five 1112 00:42:58,370 --> 00:43:00,799 guys. Just again few days ago, 1113 00:43:00,800 --> 00:43:03,529 it was a great video where Darren Kitchen 1114 00:43:03,530 --> 00:43:05,539 took like an IRA drone. 1115 00:43:05,540 --> 00:43:07,639 And I think a 1116 00:43:07,640 --> 00:43:09,709 DJI other quadcopter put 1117 00:43:09,710 --> 00:43:12,019 a pineapple on it, flew 1118 00:43:12,020 --> 00:43:14,209 to the drone and overtook its 1119 00:43:14,210 --> 00:43:15,779 Wi-Fi and controlled it from there. 1120 00:43:15,780 --> 00:43:18,499 So it's it's obviously 1121 00:43:18,500 --> 00:43:20,929 bad we have to work on this 1122 00:43:20,930 --> 00:43:21,930 now. 1123 00:43:22,670 --> 00:43:24,829 But yeah, that's it's really necessary 1124 00:43:24,830 --> 00:43:27,739 to do. It's like, we need to secure this. 1125 00:43:27,740 --> 00:43:28,740 OK, thank you. 1126 00:43:29,660 --> 00:43:31,549 Number two, please. 1127 00:43:31,550 --> 00:43:32,689 Yeah. 1128 00:43:32,690 --> 00:43:35,119 Commercial aircraft use a radio 1129 00:43:35,120 --> 00:43:37,219 beacon system even even 1130 00:43:37,220 --> 00:43:39,619 today to navigate between 1131 00:43:39,620 --> 00:43:41,869 waypoints over 1132 00:43:41,870 --> 00:43:42,919 pretty much the entire globe. 1133 00:43:42,920 --> 00:43:44,599 And this is without this was done before 1134 00:43:44,600 --> 00:43:46,699 GPS. Yeah, have it 1135 00:43:46,700 --> 00:43:49,789 since many institutions, 1136 00:43:49,790 --> 00:43:51,229 buildings, etc. 1137 00:43:51,230 --> 00:43:53,779 have a Wi-Fi network or some other 1138 00:43:53,780 --> 00:43:55,609 industrial radio network. 1139 00:43:55,610 --> 00:43:58,009 Has there been any research done in using 1140 00:43:58,010 --> 00:44:00,529 these, like individual 1141 00:44:00,530 --> 00:44:03,769 APIs or individual radios 1142 00:44:03,770 --> 00:44:05,839 for for navigation? 1143 00:44:05,840 --> 00:44:07,159 I'm thinking of like, you know, following 1144 00:44:07,160 --> 00:44:07,849 a Mac address 1145 00:44:07,850 --> 00:44:09,709 to a Mac address. 1146 00:44:09,710 --> 00:44:10,789 Yeah. 1147 00:44:10,790 --> 00:44:12,709 So there were some efforts. 1148 00:44:12,710 --> 00:44:15,529 I saw some, some some 1149 00:44:15,530 --> 00:44:17,209 universities mentioning that they were 1150 00:44:17,210 --> 00:44:19,339 working on things like that 1151 00:44:19,340 --> 00:44:21,469 for if for a fact, I could take the 1152 00:44:21,470 --> 00:44:23,479 words. Also recently, some news that 1153 00:44:23,480 --> 00:44:25,969 Apple was deploying like position 1154 00:44:25,970 --> 00:44:28,039 tracking of iPhones to 1155 00:44:28,040 --> 00:44:29,929 track their customers in their stores 1156 00:44:31,160 --> 00:44:32,419 with quite high accuracy. 1157 00:44:32,420 --> 00:44:34,639 So theoretically, that technology would 1158 00:44:34,640 --> 00:44:37,609 be there to use Wi-Fi 1159 00:44:37,610 --> 00:44:40,609 hotspots to as basically 1160 00:44:40,610 --> 00:44:42,260 radio beacons. 1161 00:44:43,760 --> 00:44:45,829 I don't know of any go to 1162 00:44:45,830 --> 00:44:47,329 solution. That's the problem. 1163 00:44:47,330 --> 00:44:49,639 It's like there are some DIY 1164 00:44:49,640 --> 00:44:52,009 things here and there with varying 1165 00:44:52,010 --> 00:44:54,349 degree of accuracy and reliability 1166 00:44:54,350 --> 00:44:56,239 and documentation. 1167 00:44:56,240 --> 00:44:58,399 But it's 1168 00:44:58,400 --> 00:45:00,469 like, I don't know if I think this is 1169 00:45:00,470 --> 00:45:02,689 also one of the possible approaches, 1170 00:45:02,690 --> 00:45:04,879 but I'm just 1171 00:45:04,880 --> 00:45:07,009 looking forward to see if 1172 00:45:07,010 --> 00:45:09,079 someone comes up with some really nice 1173 00:45:09,080 --> 00:45:11,299 solution where it's like, Oh, this works. 1174 00:45:11,300 --> 00:45:12,919 Yeah, because this seems like you could 1175 00:45:12,920 --> 00:45:14,449 be a highly accurate 1176 00:45:15,950 --> 00:45:17,449 because they're they're these tend to be 1177 00:45:17,450 --> 00:45:19,759 fixed position, you know, your IP 1178 00:45:19,760 --> 00:45:21,289 networking staff, how are you going to 1179 00:45:21,290 --> 00:45:22,859 know exactly where they are? 1180 00:45:22,860 --> 00:45:24,829 So you should be able to construct a 1181 00:45:24,830 --> 00:45:26,059 route? 1182 00:45:26,060 --> 00:45:28,069 Yeah, but they're being already used, for 1183 00:45:28,070 --> 00:45:29,719 example, for augmenting your cell phone 1184 00:45:29,720 --> 00:45:32,149 GPS position accuracy 1185 00:45:32,150 --> 00:45:33,649 today. So. 1186 00:45:33,650 --> 00:45:35,719 And like Google and 1187 00:45:35,720 --> 00:45:37,039 Apple, I think they're mapping also, 1188 00:45:37,040 --> 00:45:39,379 though. So yeah, it's a I'm 1189 00:45:39,380 --> 00:45:41,629 looking forward to see some something 1190 00:45:41,630 --> 00:45:43,729 that is not a huge brick that 1191 00:45:43,730 --> 00:45:46,279 I could put on on one of my quadcopter 1192 00:45:46,280 --> 00:45:49,129 send testers. I'm curious to see that. 1193 00:45:49,130 --> 00:45:52,009 Thanks, internet. 1194 00:45:52,010 --> 00:45:53,569 Just a short, short one. 1195 00:45:53,570 --> 00:45:54,679 Are you? 1196 00:45:54,680 --> 00:45:56,869 Do you know about the challenge 1197 00:45:56,870 --> 00:45:58,099 about that? Excellent. 1198 00:45:58,100 --> 00:46:00,079 Are they allowed to refuel during the 1199 00:46:00,080 --> 00:46:01,080 mission? 1200 00:46:01,880 --> 00:46:04,069 As far as I know, I think, yeah, there 1201 00:46:04,070 --> 00:46:06,259 is something you may come back 1202 00:46:06,260 --> 00:46:08,479 after you scan the field 1203 00:46:08,480 --> 00:46:10,609 back home so that they can drop 1204 00:46:10,610 --> 00:46:12,829 off pictures, find it so 1205 00:46:12,830 --> 00:46:15,169 that you don't really need to solve 1206 00:46:15,170 --> 00:46:17,119 everything, including the finding out 1207 00:46:17,120 --> 00:46:18,139 anonymously. 1208 00:46:18,140 --> 00:46:20,719 So I I bet you can refuel 1209 00:46:20,720 --> 00:46:22,849 in that stage when you come back, but you 1210 00:46:22,850 --> 00:46:25,219 still can reach you. 1211 00:46:25,220 --> 00:46:27,019 I don't think you can go to the field 1212 00:46:27,020 --> 00:46:29,359 several times and refuel 1213 00:46:29,360 --> 00:46:31,519 between passes, so you have to 1214 00:46:31,520 --> 00:46:33,829 do go there and scan the whole field 1215 00:46:33,830 --> 00:46:35,599 in one go. I think this is what it is, 1216 00:46:35,600 --> 00:46:37,909 but don't hold 1217 00:46:37,910 --> 00:46:39,469 that to me. So. 1218 00:46:39,470 --> 00:46:40,470 OK, thanks. 1219 00:46:41,240 --> 00:46:42,380 Mike, one, please. 1220 00:46:43,700 --> 00:46:45,259 What are the 1221 00:46:45,260 --> 00:46:47,749 one or two main areas where commercial 1222 00:46:47,750 --> 00:46:50,029 systems are more advanced than 1223 00:46:50,030 --> 00:46:51,229 open source solutions? 1224 00:46:51,230 --> 00:46:53,569 And why is it is the time, 1225 00:46:53,570 --> 00:46:54,739 the money, the smarts? 1226 00:46:57,640 --> 00:46:58,719 That's a difficult one. 1227 00:46:59,860 --> 00:47:01,539 So, yeah, definitely there are commercial 1228 00:47:01,540 --> 00:47:03,879 systems that do some things 1229 00:47:03,880 --> 00:47:06,009 better or different than 1230 00:47:06,010 --> 00:47:07,239 the open source solutions. 1231 00:47:08,290 --> 00:47:10,419 One thing is there is the obvious one 1232 00:47:10,420 --> 00:47:12,279 that you have with a lot of open source 1233 00:47:12,280 --> 00:47:13,419 projects in general. 1234 00:47:13,420 --> 00:47:14,589 They are 1235 00:47:14,590 --> 00:47:16,569 much more 1236 00:47:16,570 --> 00:47:18,339 tested, I think, or they are like, 1237 00:47:18,340 --> 00:47:20,409 basically, they are not adding so much 1238 00:47:20,410 --> 00:47:22,779 stuff so quickly so that this system 1239 00:47:22,780 --> 00:47:25,059 is is 1240 00:47:25,060 --> 00:47:27,459 getting a little bit unstable at times. 1241 00:47:27,460 --> 00:47:28,659 So they are like, OK, very 1242 00:47:28,660 --> 00:47:30,399 conservatively, we are the future. 1243 00:47:30,400 --> 00:47:32,589 We test it truthfully and then 1244 00:47:32,590 --> 00:47:34,719 we consider maybe we should release 1245 00:47:34,720 --> 00:47:36,849 it. At least some companies do, 1246 00:47:36,850 --> 00:47:37,929 like not all of them. 1247 00:47:37,930 --> 00:47:39,939 Like, I know that 3D robotics is 1248 00:47:39,940 --> 00:47:42,189 releasing hardware that is 1249 00:47:42,190 --> 00:47:44,529 like half tested and then they have to do 1250 00:47:44,530 --> 00:47:46,029 revision after revision. 1251 00:47:46,030 --> 00:47:48,099 And not even, you don't know 1252 00:47:48,100 --> 00:47:50,049 as a customer when you buy it that it's 1253 00:47:50,050 --> 00:47:52,329 something changed, that the previous 1254 00:47:52,330 --> 00:47:54,219 one was broken. But anyways, maybe they 1255 00:47:54,220 --> 00:47:56,499 are doing some communication telling 1256 00:47:56,500 --> 00:47:58,659 the customers, but this is what 1257 00:47:58,660 --> 00:47:59,829 I heard. 1258 00:47:59,830 --> 00:48:02,049 But then there are commercial companies 1259 00:48:02,050 --> 00:48:03,369 that are like, fully commercial and 1260 00:48:03,370 --> 00:48:05,799 closed that 1261 00:48:05,800 --> 00:48:07,150 really do. Also, 1262 00:48:08,320 --> 00:48:09,459 it's more robust. 1263 00:48:09,460 --> 00:48:11,799 I would say the solution this is 1264 00:48:11,800 --> 00:48:12,999 from the feature set 1265 00:48:14,680 --> 00:48:15,729 from the feature set. 1266 00:48:15,730 --> 00:48:17,229 There are more like the mechanical 1267 00:48:17,230 --> 00:48:18,579 solutions, for example. 1268 00:48:18,580 --> 00:48:21,039 I think the there are some some solutions 1269 00:48:21,040 --> 00:48:23,139 to have, like a hook on the wing so you 1270 00:48:23,140 --> 00:48:25,059 can land on the boat very easily. 1271 00:48:25,060 --> 00:48:27,399 So you have a string hanging from a crane 1272 00:48:27,400 --> 00:48:29,319 on the boat and you can hook it in. 1273 00:48:29,320 --> 00:48:30,849 But I am pretty sure we could just build 1274 00:48:30,850 --> 00:48:32,979 it. Also, go on a 1275 00:48:32,980 --> 00:48:35,109 C and see cut apart and do that to 1276 00:48:35,110 --> 00:48:37,089 ourselves, Stu. But no one I don't know 1277 00:48:37,090 --> 00:48:38,800 of anyone trying that themselves. 1278 00:48:40,270 --> 00:48:42,399 Otherwise, from the features again, from 1279 00:48:42,400 --> 00:48:44,679 the feature set, I don't know 1280 00:48:44,680 --> 00:48:46,719 it probably enough about the commercial 1281 00:48:46,720 --> 00:48:48,939 systems to say what they really have. 1282 00:48:48,940 --> 00:48:50,739 Maybe I should really actually do that 1283 00:48:50,740 --> 00:48:52,899 and see what we need more 1284 00:48:52,900 --> 00:48:54,399 to concentrate more in open source. 1285 00:48:54,400 --> 00:48:57,129 But what we have to concentrate more 1286 00:48:57,130 --> 00:48:58,270 is definitely 1287 00:48:59,560 --> 00:49:01,689 reliability and rip 1288 00:49:01,690 --> 00:49:02,860 it repetitively 1289 00:49:04,660 --> 00:49:06,969 anyway. So basically thinks 1290 00:49:06,970 --> 00:49:08,539 like this sumo. 1291 00:49:08,540 --> 00:49:11,319 That's why I showed Sumo, because this is 1292 00:49:11,320 --> 00:49:13,779 Martin Miller with his guys really 1293 00:49:13,780 --> 00:49:15,969 put the energy to make this thing 1294 00:49:15,970 --> 00:49:18,129 fly every single time and 1295 00:49:18,130 --> 00:49:19,909 work every time. 1296 00:49:19,910 --> 00:49:21,879 This is like a rare thing in their whole 1297 00:49:21,880 --> 00:49:24,069 open source world where it's like, This 1298 00:49:24,070 --> 00:49:25,719 is the solutions. This is how you build 1299 00:49:25,720 --> 00:49:28,299 it and you have a tool 1300 00:49:28,300 --> 00:49:29,300 like a hammer. 1301 00:49:31,820 --> 00:49:33,529 Internet. 1302 00:49:33,530 --> 00:49:35,659 How critical do you see the fact that the 1303 00:49:35,660 --> 00:49:37,729 UAV challenge you mentioned is 1304 00:49:37,730 --> 00:49:40,279 platinum sponsored by Northrop Grumman, 1305 00:49:40,280 --> 00:49:41,360 which is a military 1306 00:49:42,470 --> 00:49:43,470 cooperation? 1307 00:49:45,800 --> 00:49:47,779 Yeah. So from the moral standpoint, I 1308 00:49:47,780 --> 00:49:49,909 think it's it's crap, but 1309 00:49:49,910 --> 00:49:51,349 from the other standpoints, they have too 1310 00:49:51,350 --> 00:49:53,030 much money anyway. So we should take it. 1311 00:49:54,530 --> 00:49:55,530 OK. 1312 00:49:59,740 --> 00:50:01,869 So your your point is still that the 1313 00:50:01,870 --> 00:50:04,029 military already has better stuff 1314 00:50:04,030 --> 00:50:04,599 and. 1315 00:50:04,600 --> 00:50:06,909 Well, they they have better stuff 1316 00:50:06,910 --> 00:50:08,829 that costs way too much money. 1317 00:50:08,830 --> 00:50:10,899 This is why they're interested in 1318 00:50:10,900 --> 00:50:13,029 our stuff because it's much cheaper 1319 00:50:13,030 --> 00:50:15,159 and we choose solutions that 1320 00:50:15,160 --> 00:50:17,199 they wouldn't even come up with because 1321 00:50:17,200 --> 00:50:19,269 it doesn't have 50 certificates 1322 00:50:19,270 --> 00:50:21,639 on it, basically. 1323 00:50:21,640 --> 00:50:22,640 OK. 1324 00:50:23,530 --> 00:50:25,269 Mike, one. 1325 00:50:25,270 --> 00:50:27,549 OK, I've heard as a branch of science 1326 00:50:27,550 --> 00:50:29,799 that investigates real animals 1327 00:50:29,800 --> 00:50:32,439 like birds and flies and 1328 00:50:32,440 --> 00:50:34,479 to take inspiration from that to build 1329 00:50:34,480 --> 00:50:36,219 machines. Does it play a role for your 1330 00:50:36,220 --> 00:50:37,509 research? 1331 00:50:37,510 --> 00:50:38,709 Yeah, yeah, definitely. 1332 00:50:38,710 --> 00:50:39,699 It's like. 1333 00:50:39,700 --> 00:50:41,949 So the first quadcopter ever 1334 00:50:41,950 --> 00:50:43,929 was built by imager. 1335 00:50:43,930 --> 00:50:46,119 It was before even the helicopter 1336 00:50:46,120 --> 00:50:48,219 that we know today was 1337 00:50:48,220 --> 00:50:49,959 even conceived. 1338 00:50:49,960 --> 00:50:52,239 It was a quadcopter, the first vertical 1339 00:50:52,240 --> 00:50:54,459 takeoff vehicle at all, and 1340 00:50:54,460 --> 00:50:57,609 he was inspired by by dragonflies 1341 00:50:57,610 --> 00:50:58,659 and their flight. 1342 00:50:58,660 --> 00:51:00,879 So the propellers 1343 00:51:00,880 --> 00:51:03,249 that he used on this were already 1344 00:51:03,250 --> 00:51:05,649 back then inspired by 1345 00:51:05,650 --> 00:51:07,179 by birds. 1346 00:51:07,180 --> 00:51:09,399 And definitely the further you go like, 1347 00:51:09,400 --> 00:51:11,739 for example, they fly the flapping 1348 00:51:11,740 --> 00:51:13,869 wing aircraft, it's of course 1349 00:51:13,870 --> 00:51:14,870 it's 1350 00:51:16,810 --> 00:51:18,279 biomimicry, right? 1351 00:51:18,280 --> 00:51:20,499 So you are trying to copy copy 1352 00:51:20,500 --> 00:51:21,500 the animals. 1353 00:51:24,160 --> 00:51:25,900 OK, internet, go ahead. 1354 00:51:26,920 --> 00:51:28,689 What kind of scenarios can we expect in 1355 00:51:28,690 --> 00:51:30,399 the future, apart from the current 1356 00:51:30,400 --> 00:51:32,799 positioning, acceleration and orientation 1357 00:51:32,800 --> 00:51:35,619 sensors? Do you have any ideas on 1358 00:51:35,620 --> 00:51:37,659 which sensors additional sensors? 1359 00:51:39,280 --> 00:51:41,569 So yeah, that's that's basically the the 1360 00:51:41,570 --> 00:51:43,959 problem here. It's like for the EC, 1361 00:51:43,960 --> 00:51:46,269 we have everything to do autonomous 1362 00:51:46,270 --> 00:51:47,769 flight very well outdoors. 1363 00:51:47,770 --> 00:51:50,529 It's like on the airplanes you have 1364 00:51:50,530 --> 00:51:52,809 one additional sensor is that Peter, 1365 00:51:52,810 --> 00:51:55,059 too. So to get airspeed, 1366 00:51:55,060 --> 00:51:57,189 so you can do control on that, but this 1367 00:51:57,190 --> 00:51:59,619 is also a normal part of the control 1368 00:51:59,620 --> 00:52:00,620 system on an airplane. 1369 00:52:01,990 --> 00:52:04,169 But on the road 1370 00:52:04,170 --> 00:52:06,639 aircraft's sake 1371 00:52:06,640 --> 00:52:08,409 we are putting, I think we have 1372 00:52:08,410 --> 00:52:09,909 everything to do with autonomous flight 1373 00:52:09,910 --> 00:52:12,099 by now. But what will come are 1374 00:52:12,100 --> 00:52:14,529 other sensors that make it more, maybe 1375 00:52:14,530 --> 00:52:17,289 more accurate to say you don't like 1376 00:52:17,290 --> 00:52:19,419 to keep the altitude more correct 1377 00:52:19,420 --> 00:52:20,679 at ground level. 1378 00:52:20,680 --> 00:52:23,019 There are ultrasound sensors 1379 00:52:23,020 --> 00:52:24,020 being used, 1380 00:52:25,330 --> 00:52:27,339 but it really also depends on the mission 1381 00:52:27,340 --> 00:52:28,989 and the and the environment that you're 1382 00:52:28,990 --> 00:52:31,299 running and don't facing cameras 1383 00:52:31,300 --> 00:52:33,040 just like our airdrome does for 1384 00:52:34,060 --> 00:52:35,649 optical flow. 1385 00:52:35,650 --> 00:52:37,449 This is something they are using. 1386 00:52:37,450 --> 00:52:38,859 I'm into. 1387 00:52:38,860 --> 00:52:40,929 Yeah, pick the guys picks, OK? 1388 00:52:42,580 --> 00:52:44,709 They have optical force 1389 00:52:44,710 --> 00:52:46,719 sensor that they are putting on their 1390 00:52:46,720 --> 00:52:48,969 stuff. It's a it's it's 1391 00:52:48,970 --> 00:52:51,729 definitely coming to, but it really 1392 00:52:51,730 --> 00:52:53,799 the minimum set, in my opinion, 1393 00:52:53,800 --> 00:52:56,049 to do. Autonomous flight is the tandem 1394 00:52:56,050 --> 00:52:58,029 plus GPS solution. 1395 00:52:58,030 --> 00:53:00,159 So and then you have basically everything 1396 00:53:00,160 --> 00:53:01,689 you will you will get definitely other 1397 00:53:01,690 --> 00:53:03,369 sensors, depending on the mission and 1398 00:53:03,370 --> 00:53:04,869 what you want to do. 1399 00:53:04,870 --> 00:53:06,759 The indoor navigation, though, yes, the 1400 00:53:06,760 --> 00:53:08,049 indoor navigation, there will be 1401 00:53:08,050 --> 00:53:09,399 something will come. 1402 00:53:09,400 --> 00:53:11,649 I really hope so. That's why I hope 1403 00:53:11,650 --> 00:53:12,879 that's why I'm talking to you guys, 1404 00:53:12,880 --> 00:53:14,949 because the smarts 1405 00:53:14,950 --> 00:53:17,109 are we have to put our heads all 1406 00:53:17,110 --> 00:53:19,179 together because it's so 1407 00:53:19,180 --> 00:53:20,410 interdisciplinary. 1408 00:53:21,490 --> 00:53:23,259 This is also the thing here with the 1409 00:53:23,260 --> 00:53:25,569 drones. It's like it's 1410 00:53:25,570 --> 00:53:27,669 machining, it's electronics, it's 1411 00:53:27,670 --> 00:53:29,949 software. It's it's our 1412 00:53:29,950 --> 00:53:32,079 dynamics. It's everything, it's like it's 1413 00:53:32,080 --> 00:53:34,809 not and not a 1414 00:53:34,810 --> 00:53:37,089 area where you can just 1415 00:53:37,090 --> 00:53:39,219 concentrate only on your part what 1416 00:53:39,220 --> 00:53:41,679 you know about and 1417 00:53:41,680 --> 00:53:43,749 and you will you won't be able 1418 00:53:43,750 --> 00:53:45,399 to operate. You have to talk to so many 1419 00:53:45,400 --> 00:53:47,139 people in many disciplines. 1420 00:53:47,140 --> 00:53:49,389 And that's why I think 1421 00:53:49,390 --> 00:53:51,999 I really hope that someone 1422 00:53:52,000 --> 00:53:54,219 will come up with really great solutions 1423 00:53:54,220 --> 00:53:56,109 that no one thought about before because 1424 00:53:56,110 --> 00:53:57,669 they are just thinking out of the box. 1425 00:53:59,190 --> 00:54:00,599 Thanks, Mike. 1426 00:54:00,600 --> 00:54:01,600 One, please. 1427 00:54:02,520 --> 00:54:05,429 OK. Do you have an overview of 1428 00:54:05,430 --> 00:54:07,409 the race integration rapid operation 1429 00:54:07,410 --> 00:54:09,000 system in open source platform? 1430 00:54:10,200 --> 00:54:12,719 Yeah. So Ross 1431 00:54:13,890 --> 00:54:16,319 Ross integration is is ongoing. 1432 00:54:16,320 --> 00:54:18,539 I am, I know that, but there is 1433 00:54:18,540 --> 00:54:20,999 like there is some adapter for modeling, 1434 00:54:21,000 --> 00:54:23,579 I think for the autopilot stuff. 1435 00:54:23,580 --> 00:54:25,709 And paparazzi has also some adapters for 1436 00:54:25,710 --> 00:54:28,439 us. It has a converter from the Ivy 1437 00:54:28,440 --> 00:54:30,599 Ivy bus that it is using on the ground 1438 00:54:30,600 --> 00:54:32,519 station. How good is this working? 1439 00:54:32,520 --> 00:54:34,679 Uh, as far as I know, it works, 1440 00:54:34,680 --> 00:54:36,929 so I didn't try 1441 00:54:36,930 --> 00:54:39,119 it myself, so I can tell you, but 1442 00:54:39,120 --> 00:54:40,120 I. Hmm. 1443 00:54:41,890 --> 00:54:42,959 Yeah. 1444 00:54:42,960 --> 00:54:44,730 But this is not an open source platform, 1445 00:54:46,290 --> 00:54:48,419 as tech has as a commercial 1446 00:54:48,420 --> 00:54:49,829 platform has a Ross integration. 1447 00:54:49,830 --> 00:54:52,079 But yeah, this is something I would 1448 00:54:52,080 --> 00:54:54,239 love to see. Like someone who is actually 1449 00:54:54,240 --> 00:54:56,399 really using Ross 1450 00:54:56,400 --> 00:54:58,769 Tech I use draws in different research 1451 00:54:58,770 --> 00:54:59,819 in the past myself. 1452 00:54:59,820 --> 00:55:01,529 It's it's a great platform, so I would 1453 00:55:01,530 --> 00:55:03,659 love to see it properly integrated 1454 00:55:03,660 --> 00:55:05,519 with paparazzi, for example. 1455 00:55:05,520 --> 00:55:07,679 As far as I know, as I said, it has an 1456 00:55:07,680 --> 00:55:08,819 adapter. 1457 00:55:08,820 --> 00:55:09,899 People were using it. 1458 00:55:09,900 --> 00:55:12,059 I don't know how well it works, though, 1459 00:55:12,060 --> 00:55:14,249 because most of the missions and 1460 00:55:14,250 --> 00:55:16,199 most of the stuff that is being done with 1461 00:55:16,200 --> 00:55:18,479 this platform normally doesn't require 1462 00:55:18,480 --> 00:55:19,649 to run with Ross. 1463 00:55:19,650 --> 00:55:21,779 Additionally, it is for definitely 1464 00:55:21,780 --> 00:55:24,269 for multi-platform 1465 00:55:24,270 --> 00:55:25,889 operation where you have to communicate 1466 00:55:25,890 --> 00:55:28,109 with different with rovers and 1467 00:55:28,110 --> 00:55:30,089 robots and humanoid robots. 1468 00:55:30,090 --> 00:55:31,469 You would need that, yes. 1469 00:55:31,470 --> 00:55:33,659 But again, I don't know 1470 00:55:33,660 --> 00:55:35,729 of anyone who is involved in this project 1471 00:55:35,730 --> 00:55:37,440 to be actually involved in this. 1472 00:55:38,640 --> 00:55:39,640 You're welcome. 1473 00:55:40,380 --> 00:55:42,269 Thanks, Mike. 1474 00:55:42,270 --> 00:55:44,129 Three, Please. 1475 00:55:44,130 --> 00:55:45,059 When you're talking about 1476 00:55:45,060 --> 00:55:47,009 regression tests, what do we really want 1477 00:55:47,010 --> 00:55:48,059 to test and 1478 00:55:48,060 --> 00:55:49,919 where would you like to start? 1479 00:55:49,920 --> 00:55:52,109 So as I'm 1480 00:55:52,110 --> 00:55:54,239 mostly a low level embedded 1481 00:55:54,240 --> 00:55:56,429 person, it's like I 1482 00:55:56,430 --> 00:55:58,619 would love to find a way 1483 00:55:58,620 --> 00:56:00,779 I say can treat really thinking 1484 00:56:00,780 --> 00:56:01,739 hard how to do it. 1485 00:56:01,740 --> 00:56:03,899 But it's like I didn't come up with 1486 00:56:03,900 --> 00:56:06,149 a reasonable solution is 1487 00:56:06,150 --> 00:56:09,099 to be able to even be able to test 1488 00:56:09,100 --> 00:56:11,159 the drivers on the lower level. 1489 00:56:11,160 --> 00:56:13,139 It's like with the IO, with the hardware 1490 00:56:13,140 --> 00:56:14,819 connected, there's this really hard 1491 00:56:14,820 --> 00:56:16,799 problem because you probably have to 1492 00:56:16,800 --> 00:56:18,899 build some custom hardware to 1493 00:56:18,900 --> 00:56:21,119 be able to run those tests with feedback 1494 00:56:21,120 --> 00:56:24,059 loops and like switches and whatever. 1495 00:56:24,060 --> 00:56:26,369 People are doing some things along those 1496 00:56:26,370 --> 00:56:28,499 lines. But this is something I would 1497 00:56:28,500 --> 00:56:30,479 start with because it's this is what I 1498 00:56:30,480 --> 00:56:33,659 do. But other things is 1499 00:56:33,660 --> 00:56:34,979 on the very high level. 1500 00:56:34,980 --> 00:56:36,479 There is some simulation stuff. 1501 00:56:36,480 --> 00:56:37,709 This is an interesting thing. 1502 00:56:37,710 --> 00:56:39,299 I know people are working on this, this 1503 00:56:39,300 --> 00:56:41,519 will come, but it's basically 1504 00:56:41,520 --> 00:56:44,099 that you have a simulation 1505 00:56:44,100 --> 00:56:46,109 running. You basically take the newest 1506 00:56:46,110 --> 00:56:48,329 revision from the code base and you 1507 00:56:48,330 --> 00:56:50,129 fly an autonomous flight plan in 1508 00:56:50,130 --> 00:56:52,769 simulation. And if it deviates from 1509 00:56:52,770 --> 00:56:54,869 certain parameters, then it will start 1510 00:56:54,870 --> 00:56:57,239 screaming like something broke. 1511 00:56:57,240 --> 00:56:59,459 And this is something completely 1512 00:56:59,460 --> 00:57:00,899 the opposite side and everything in 1513 00:57:00,900 --> 00:57:02,999 between needs to be tested to. 1514 00:57:03,000 --> 00:57:04,679 And so basically, that's why I'm saying 1515 00:57:04,680 --> 00:57:06,869 it's like, I know there are people that 1516 00:57:06,870 --> 00:57:08,519 are software engineers that are like, Oh, 1517 00:57:08,520 --> 00:57:09,569 a drone Quadro copter. 1518 00:57:09,570 --> 00:57:11,489 I don't know. It's like, it's too much, 1519 00:57:11,490 --> 00:57:13,769 too much soldiering and too stinky. 1520 00:57:13,770 --> 00:57:16,289 But there is there are real software 1521 00:57:16,290 --> 00:57:18,629 engineering problems in that 1522 00:57:18,630 --> 00:57:20,789 in that area that 1523 00:57:20,790 --> 00:57:23,039 that we need the help of those people 1524 00:57:23,040 --> 00:57:25,229 that are really have their head deep 1525 00:57:25,230 --> 00:57:27,359 in software to solve this. 1526 00:57:27,360 --> 00:57:30,029 So you would like to decouple the sensors 1527 00:57:30,030 --> 00:57:33,179 from the PC B and inject 1528 00:57:33,180 --> 00:57:34,289 simulated 1529 00:57:34,290 --> 00:57:35,519 simulators or areas. 1530 00:57:35,520 --> 00:57:36,899 It's like, yes, there is software in the 1531 00:57:36,900 --> 00:57:39,089 loop. It already exists, but it is not 1532 00:57:39,090 --> 00:57:40,679 an automated test system. 1533 00:57:40,680 --> 00:57:41,729 OK. That's what I mean. 1534 00:57:41,730 --> 00:57:43,199 It's like, yes, you can do it on your 1535 00:57:43,200 --> 00:57:44,699 laptop. You can run it in simulation. 1536 00:57:44,700 --> 00:57:46,919 No problem, but it's like, how 1537 00:57:46,920 --> 00:57:48,809 do you integrate it in a platform that 1538 00:57:48,810 --> 00:57:51,119 runs on a server somewhere, a client 1539 00:57:51,120 --> 00:57:53,519 and just just goes through this 1540 00:57:53,520 --> 00:57:55,499 every day when there are new comments? 1541 00:57:55,500 --> 00:57:56,500 OK? 1542 00:57:57,250 --> 00:57:58,899 Internet, please. 1543 00:57:58,900 --> 00:58:00,039 Okay. 1544 00:58:00,040 --> 00:58:01,779 What batteries have the best power 1545 00:58:01,780 --> 00:58:03,969 density and are available to the public? 1546 00:58:05,050 --> 00:58:06,309 Who? 1547 00:58:06,310 --> 00:58:07,929 That's like another home, and we don't 1548 00:58:07,930 --> 00:58:09,609 need to manufacture another, but just the 1549 00:58:09,610 --> 00:58:11,280 technology a. 1550 00:58:12,430 --> 00:58:14,769 As far as I know, it is still 1551 00:58:14,770 --> 00:58:17,079 lithium polymer, but 1552 00:58:17,080 --> 00:58:18,159 I might be wrong. 1553 00:58:18,160 --> 00:58:19,269 That changed by now. 1554 00:58:19,270 --> 00:58:20,270 I know that 1555 00:58:21,760 --> 00:58:24,089 leafy pool or is 1556 00:58:24,090 --> 00:58:26,349 the abbreviation have the advantage 1557 00:58:26,350 --> 00:58:27,639 that you can charge them faster. 1558 00:58:27,640 --> 00:58:29,859 But I I'm pretty sure they don't have 1559 00:58:29,860 --> 00:58:31,869 the density of capacity. 1560 00:58:31,870 --> 00:58:34,119 So I think lithium polymer 1561 00:58:34,120 --> 00:58:35,319 is still the best. 1562 00:58:35,320 --> 00:58:38,019 But tell me if I'm wrong. 1563 00:58:38,020 --> 00:58:39,009 OK, thanks. 1564 00:58:39,010 --> 00:58:40,899 I would like to know myself better game 1565 00:58:40,900 --> 00:58:42,039 theory. Something better than 1566 00:58:42,040 --> 00:58:43,040 this 1567 00:58:44,020 --> 00:58:46,789 last question. Number four, please. 1568 00:58:46,790 --> 00:58:48,219 For indoor navigation. 1569 00:58:48,220 --> 00:58:49,989 Would it be feasible to build something 1570 00:58:49,990 --> 00:58:50,919 like a GPS? 1571 00:58:50,920 --> 00:58:52,239 But I assume frequencies. 1572 00:58:53,260 --> 00:58:54,999 I bet it would. 1573 00:58:55,000 --> 00:58:56,530 But it's and 1574 00:58:57,550 --> 00:58:59,769 my RF knowledge is not good enough. 1575 00:58:59,770 --> 00:59:01,029 So. 1576 00:59:01,030 --> 00:59:03,249 So building such a thing is over 1577 00:59:03,250 --> 00:59:05,349 my capabilities, basically. 1578 00:59:05,350 --> 00:59:07,449 And that's yeah, it's I definitely I 1579 00:59:07,450 --> 00:59:08,769 think it is a solution. 1580 00:59:08,770 --> 00:59:10,269 I saw something there. 1581 00:59:10,270 --> 00:59:11,979 There is also a group that made a 1582 00:59:11,980 --> 00:59:12,939 prototype. 1583 00:59:12,940 --> 00:59:15,369 They built some antennas and 1584 00:59:15,370 --> 00:59:17,439 on poles, put them in four corners 1585 00:59:17,440 --> 00:59:19,419 of the room or three corners of the room. 1586 00:59:19,420 --> 00:59:21,189 And then they had that receiver and 1587 00:59:21,190 --> 00:59:22,779 basically they measured the time of 1588 00:59:22,780 --> 00:59:23,780 flight. 1589 00:59:24,340 --> 00:59:26,349 You can do it much better where you 1590 00:59:26,350 --> 00:59:28,089 measured the carrier phase, right? 1591 00:59:28,090 --> 00:59:29,469 It's like, then you have it much more 1592 00:59:29,470 --> 00:59:31,269 accurate, just like you do it with GPS. 1593 00:59:32,410 --> 00:59:34,539 So but there is again, 1594 00:59:34,540 --> 00:59:36,789 there is no there 1595 00:59:36,790 --> 00:59:38,619 are some very, very, very expensive 1596 00:59:38,620 --> 00:59:40,269 commercial systems that simulate 1597 00:59:40,270 --> 00:59:41,829 satellites indoors. 1598 00:59:41,830 --> 00:59:43,419 So GPS satellites. 1599 00:59:43,420 --> 00:59:45,549 I think this exists, but it is it 1600 00:59:45,550 --> 00:59:47,949 is completely beyond any good 1601 00:59:47,950 --> 00:59:49,179 or bad in price. 1602 00:59:49,180 --> 00:59:51,459 This is like this is not even 1603 00:59:51,460 --> 00:59:53,109 the Richard universities can afford that. 1604 00:59:53,110 --> 00:59:54,879 I think so. 1605 00:59:54,880 --> 00:59:56,589 Yeah, but if this would be, this is 1606 00:59:56,590 --> 00:59:59,229 definitely a direction that would work 1607 00:59:59,230 --> 01:00:01,299 nicely if someone would 1608 01:00:01,300 --> 01:00:03,519 build a platform that like 1609 01:00:03,520 --> 01:00:04,520 that. 1610 01:00:05,090 --> 01:00:07,219 OK, and we are out of time, please, once 1611 01:00:07,220 --> 01:00:08,390 again, thank Estan.