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# Implementation
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The px4 flightstack offers two different possibilities of implementing an application. That's on the one hand the implementation as a task and on the other hand the implementation as a workqueue. Drivers are normally implemented as a work queue,because it is less ressource intensiv, but it also requires an bigger integration effort. With the CAN-bus the processing of the incoming LiDAR data is simpler. That's why the application will be implemented as an task using the CAN-bus interface , which will be described in the next section.
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## CAN Interface
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![pap_tf_can](uploads/9e7b1d2b14d98422b95ab689e0accaf1/pap_tf_can.png)
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## UART Interface |
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