Hi everyone, i’m from a group of honours students at Adelaide University and our Honours project involves building an autonomous sailing vessel.
Heres an example of an existing one roboat.at/en/home/
We’re using QNX neutrino as our main operating environment but none of us has any experience in it and our supervisors knowledge of it is very limited.
Ive come up with the message passing architecture based on how i think QNX works, but not entirely sure about it. Im just wondering if theres anyone on the forums nice enough to have a look over to see if im even on the right track.
The attached image shows a top-down hierarchy of processes with maneuver execution being the overall goal of the rest of the processes
A short run down of the little boxes are
Maneuver execution - The resultant commands which will move the vessel in the required direction. They are sent to a separate microcontroller which will control actuators
Short course path planning - Sets a short course which the vessel will follow. This includes the tacking and such for anyone who knows anything about sailing. Its will follow the general long term path given
Long term Path planning - The overall route which the vessel will take. Ie go from this port to this waypoint to this final destination
Localisation - Calculates the absolute position (latitude and longitude) and direction (yaw) of the vessel
GSM/Wifi comms - Any received data or data to be sent is from this process
And the others are fairly self explanatory.
Thanks in advance for any feedback