Informally and roughly, here are our plans for the future:
We will eventually use ivory-bsp-stm32f4, our pure Ivory driver suite, to replace all hardware support. That work will allow us to eliminate the untrusted hwf4, the AP_HAL and APM provided gyro, accel, magnetometer, and barometer drivers.
We will also reimplement both the APM project’s calibration, sensor fusion and inertial navigation algorithms in Ivory.
We’ll expand the flight code with more features for autonomous flight:
We will expand the capabilities of Tower to support more operating systems, including POSIX threading and messaging primitives.
We will improve open-source tools for model checking Ivory programs, and expand the SMACCMPilot test suite.
We will add a networking layer to Tower, which will generate appropriate code to distribute tasks between different processors & systems, and manage inter-processor communication on the CAN bus.