The cyberphysical architecture shown in below mirrors the flow and layout shown in the Functional architecture depicted in Fig. 2. Four large dashed boxes in the cyberphysical architecture represent the main cyberphysical systems within AACAS. Each of the cyberphysical systems shares overarching electrical and software systems that govern its functionality. The colors of the individual elements indicate the subsystems to which the elements belong.
Sensor Pod: The sensor pod will physically attach the entire payload (sensors, power regulator, and CPU) to the DJI M600. The preliminary sensors include a Velodyne Puck Hi-Res and Intel RealSense Camera.
Jetson Xavier: A Xavier will function as the processor for this system. It will process the sensor data, run perception algorithms, and develop the flight paths. In this configuration, the Xavier will receive power and perception data from the sensor pod. It will also receive pose data and RC commands from the DJI microprocessor. It will output flight commands to both the DJI and the operator.
DJI M600: The DJI M600 will be the flight platform for this system. It will execute the flight commands generated by the planning subsystem. Additionally, the GPS, IMU, and central battery are housed within the DJI frame.
Remote Operator: The remote operator will pilot the drone throughout testing, this can be either autonomous or human-piloted. They will receive the flight commands from the planner and send commands to the platform using the DJI RC controller. In typical operation, the controller will feed to the global planner. However, a direct path to the DJI microprocessor allows the operator to override flight if the planner fails.