Presentation on ArduPilot switch from NuttX to ChibiOS

[tridge]

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

[Giovanni]

Hi,

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

Giovanni

[DeusExMachina]

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

[faisal]

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

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

Anywhoo, ChibiOS FTW!

[Giovanni]

The forum disappeared but results are still here:

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

I see a pattern here

Giovanni

[DeusExMachina]

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

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

Anywhoo, ChibiOS FTW!

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

[faisal]

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

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

Anywhoo, ChibiOS FTW!

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

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

[DeusExMachina]

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

AFAIK they used kernel only