ardupilot
ikos
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ardupilot | ikos | |
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72 | 14 | |
9,830 | 1,980 | |
2.2% | 1.2% | |
10.0 | 7.5 | |
4 days ago | 25 days ago | |
C++ | C++ | |
GNU General Public License v3.0 only | GNU General Public License v3.0 or later |
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
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For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
ardupilot
- Reading Sensor Data From Flight Controller Mateksys F405-TE - Integrated IMU - No Documentation
- Someone is selling my stuff on Etsy, can I do anything?
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Kalman Filter Tutorial: Kalman Filter from the Ground Up
They are widely used in narrow circles :)
Two of (arguably the best) open source RC aircraft flight controllers (ArduPilot and PX4) are using extended Kalman filters in their state estimators (essentially sensor fusion that provides attitude/position estimate):
https://github.com/ArduPilot/ardupilot/tree/master/libraries...
https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/e...
I'm not that familiar with cleanflight/betaflight/inav scene to know what the FPV racer flight controllers use.
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Tell HN: Parrot abandoned their Bebop and Disco drones
2. https://ardupilot.org/
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here pro vs here 4 GNSS RTK performance
Trimble also has some nice stuff, I think the BD940 is interesting. I do not know if it's recommended or not, but Ardupilot has a driver for the Septentrio GPS (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_SBF.cpp), as well for Trimble GPS (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_GSOF.cpp). So people have used these brands for drones.
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Book on programming my own autopilot
For programmable open source autopilot: Arduino > Ardupilot (https://ardupilot.org).
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How do I make a flight controller and what do I need?
You might also want to look at something like Ardupilot
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Robotics team is entering in an autonomous boat competition, need some advice.
I'd like to emphasize the reference to Ardupilot bc there is a lot of material already developed there: a lot about navigation and guidance from UAVs, and the low-level stuff. Check this out
- Does anyone know about a good avionics related open source project for learning purposes?
- Programming transmitter
ikos
- Static analyzer IKOS 3.2 Released
- Static analyzer IKOS 3.2-rc1 published – Request for testers
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The NSA advises move to memory-safe languages
I beg to differ: there are a few tools which are comparable.
Frama-C (https://www.frama-c.com) is an open source framework that has, among its analyzers, one based on abstract interpretation (https://www.frama-c.com/fc-plugins/eva.html) that is very similar in spirit to Astree.
MOPSA (https://mopsa.lip6.fr) is another open-source project (albeit more recent, and in a more "academic" stage) that also provides abstract interpretation to analyze C programs for flaws.
NASA also released IKOS (https://github.com/NASA-SW-VnV/ikos), on the same vein.
Of course they lack the polish of a product which costs tens of thousands of euros per license, but they are open source, and their purpose is the same: to ensure code safety via formal methods, in particular abstract interpretation.
It is possible to get these tools to analyze some code and generate no complaints, which ensures absence of several kinds of problems, such as memory safety issues.
Then again, it's hard to know exactly how much they differ from Astree, since you need a license to compare them, and I don't even know if you are allowed to publish such comparisons.
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Does anyone use IKOS for static analysis?
I've been playing around with running IKOS (https://github.com/NASA-SW-VnV/ikos), it sounds very cool but doesn't seem to be super well maintained. I've managed to compile my project to llvm bit-code and run the IKSO on it, but the actual analysis seems to be buggy. There are open issues for the problems I encountered, but the make the analysis pretty useless (it thinks most functions are unreachable).
- Astrée Static Analyzer for C and C++
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Checked C
> https://www.absint.com/astree/index.htm
This looks interesting. It's based on abstract interpretation which is more or less the most powerful approach for imperative code available. (Because the way it works it's likely slow as hell though, I guess).
But it's closed source. One of this kind of products where you need to asks for the price… I think we all know what this means: It'll be laughably expensive.
I don't see any offer for OpenSource projects frankly.
> https://github.com/NASA-SW-VnV/ikos
Also abstract interpretation based. Looks less polished than the first one at first glance.
It's under some questionable license. According to OSI it's OpenSource. According to the FSF it's not. (The FSF argument sounds strong. They're right in my opinion. This NASA license does not look like OpenSource).
But an OpenSource project could use it for free I assume.
> https://github.com/static-analysis-engineering/CodeHawk-C
Much more constrained in scope than the other ones. But looks a little bit "too academic" imho: Uses its own C parser and such.
At least it's OpenSource under MIT license.
Thanks for the links either way! Good to know about some tools in case one would need them at some point.
> I have planned to try using them on OpenZFS for a while, but I am still busy reviewing and fixing reports made by conventional static analyzers.
Stupid question about usual C development practices (as I don't have much contact with that):
Aren't analyzers today part of the build pipeline form the get go? Especially as C is known to be full of booby traps.
Imho it shouldn't be even possible to push anything that has issues discovered by tools.
This should be the lowest barrier as most code analyzers are at most able to spot quite obvious problems (the commercial one above is likely an exception to this "rule"). When even the usual "stupid analyzer" sees issues than the code is very likely in a very bad shape.
Adding such tools later on in the development is like activating warnings post factum: You'll get drowned in issues.
Especially in such critical domains as file-systems I would actually expect that the developers are using "the best tools money can buy" (or at least the best OpenSource tools available).
"Still fixing bugs found by some code analyzer" doesn't sound like someone should have much trust with their data in something like ZFS, to be honest… The statement sounds actually quite scary to me.
- NSA Cybersecurity Information Sheet remarks on C and C++.
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IKOS: Static analyzer for C/C++ based on the theory of Abstract Interpretation
They have very unusual license which I have never seen before: https://github.com/NASA-SW-VnV/ikos/blob/master/LICENSE.txt
Is anyone familiar with it? Is it OSI certified? (it's not on the OSI's site).
- Is there a project like MIRI but for C++
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(x-post) Why static analysis on C projects is not widespread already?
Yeah there are tools that require adding contracts as comments. But again, there are also friction-less tools that don't require any changes (for example a NASA one).
What are some alternatives?
inav - INAV: Navigation-enabled flight control software
Triton - Triton is a dynamic binary analysis library. Build your own program analysis tools, automate your reverse engineering, perform software verification or just emulate code.
PX4-Autopilot - PX4 Autopilot Software
IntegerAbsoluteDifferenceCpp - Computing the difference between two integer values in C++. Turns out this isn't trivial.
ESP32 - DroneBridge for ESP32. A transparent short range wifi based telemetry (serial to WiFi) link. Support for MAVLink, MSP, LTM (iNAV) or any other protocol
codechecker - CodeChecker is an analyzer tooling, defect database and viewer extension for the Clang Static Analyzer and Clang Tidy
MicroPython - MicroPython - a lean and efficient Python implementation for microcontrollers and constrained systems
cppbestpractices - Collaborative Collection of C++ Best Practices. This online resource is part of Jason Turner's collection of C++ Best Practices resources. See README.md for more information.
fprime - F´ - A flight software and embedded systems framework
z3 - The Z3 Theorem Prover
paparazzi - Paparazzi is a free and open-source hardware and software project for unmanned (air) vehicles. This is the main software repository.
awesome-cpp - A curated list of awesome C++ (or C) frameworks, libraries, resources, and shiny things. Inspired by awesome-... stuff.