CogniPilot is a new class of open source autopilot that can conduct safety critical missions such as public transport, with a level of safety assurance not currently available in other open source autopilots. CogniPilot focuses on state-of-the-art methodologies for creating an autopilot with mathematically provable robustness properties.
For more information on how to setup your environment and build cognipilot checkout the Cognipilot developers guide
The Teensy comes with its own bootloader, allowing to flash Cerebri through USB. Teensy provides a Teensy Loader gui flashing for more information checkout their guide
On Linux you can also flash Cerebri directly from the west build system.
To use this method, first install the teensy-loader-cli application.
On a Ubuntu based system you can use the following command
sudo apt install teensy-loader-cli
Connect the board through USB and then press the physical button on the Teensy to put it into bootloader mode.
Flashing the board is simply done by the command below
west flash
On success you should get the following output
-- west flash: rebuilding
[1/1] cd /home/peter/cognipilot/ws/cerebri/build/zephyr &&...=/home/peter/cognipilot/ws/cerebri/build/zephyr/zephyr.elf
/home/peter/cognipilot/ws/cerebri/build/zephyr/runners.yaml
flash-runner
-- west flash: using runner teensy
-- runners.teensy: Flashing file: /home/peter/cognipilot/ws/cerebri/build/zephyr/zephyr.hex
If Cognipilot has been succesfully flash you should hear a startup tone from buzzer.
By default the Cerebri Serial console is provided through lpuart on the 6-pin JST-GH connector labeled Debug.
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*** Booting Zephyr OS build zephyr-v3.5.0-3936-g9e01bfe86b7c ***
uart:~$
On bootup you should see this Cognipilot banner and then you get a uart:~$ shell to type your commands