So, at LCA last year, I talked about the effort to port an 8-bit autopilot to Linux, or something that was originally an 8-bit autopilot running on Arduino-style AVRs, running on boards like this, still a very popular autopilot called the APM-2, predecessor APM-1, etc. So in that talk, I talked about the plans to hopefully have a real Linux-based autopilot in the future. And a lot has happened in the last year, towards the end of the talk last year. So these pictures you're seeing up there are the progression of the history of the autopilots that ArduPilot runs on, starting from the original ArduPilot in 2009, APM-1, APM-2, 2.5, like this one, and then the current generation of autopilot called a Pixhawk, which is sitting here blinking at slides. So then the existing system design that, you know, this is, a few years ago I talked about the Outback Challenge in an effort to build a search and rescue aircraft for a search and rescue aircraft competition. And this is the basic system design that we had in those aircraft. So we would have a dedicated autopilot, something like a Pixhawk, we've built in, it's got an extra microcontroller for the fail safes shown in a separate box. And then there was also another computer on board, an Odroid, something like this. This is an Odroid U3, wonderful little embedded Linux box, by the way. So an Odroid U3, we actually had an Odroid XU, but they're very similar. And that's doing all the image recognition and the high level processing, running lots of Python image recognition code, et cetera. And that was the basic design. So I would like to combine some of those elements so that all of those bits in the red box is replaced with one system, partly because it's a fun challenge, but also because it allows us to make things smaller, lighter, less wiring, less complex for users, and did I mention it would be fun? So at the end of last year's talk, I showed this diagram, which is of the, at the time, we were planning to build something called a Pixhawk Fire Cape, which is a cape to go on top of a Beaglebone Black, and that was to provide all of the sensors and goodies you need to turn a embedded Linux box like the Beaglebone Black into an autopilot. And what I said at the end of that talk is I was hoping that in the next year we would actually produce this board, ride all the drivers for it, and get it flying. And today I'm going to be hopefully showing you a flight demonstration using this board. So this is the board. That is a PXF Cape, different color than the one in the diagram there. It's sitting on top of a Beaglebone Black. And in fact, an awful lot has happened in the last year far more than I originally expected. Ardupilot is now regularly flying on Linux. Multiple ports of Ardupilot have been done to a variety of different boards. So there's not just one autopilot Cape for Ardupilot, there's several. In fact, in the last year, two companies have sprung up whose purpose is to sell commercialized autopilots based on Linux and this design and other designs. So they're now commercially available, which is just wonderful. And I didn't even imagine that might happen a year ago. OK, so I thought I'd start this talk with a demonstration, but it's a little bit tricky getting a plane in my luggage and bring it over here. I could have got a really, really small, tiny copter or something and had it hovering around on the stage. But I thought it would be more fun to fly a slightly bigger plane, not a really big one. So this is a picture of good friend of mine, Jack Pitta, the chief pilot for Canberra UAV, with a plane, a Skywalker. It's just an electric glider, 2.2 kilogram glider. So it's currently sitting on the runway in Canberra, waiting for the go for it to be launched in Canberra. And we're going to have a live feed from that to watch the flight and see how it goes. Now, it is running a Beagle Bone Black with a PXF Cape like this. It's running Ardupilot 3.2.1, which isn't actually released yet, so that might be next week's job. And while it's flying around, I thought a good demo for this audience would be it's going to be compiling the Linux kernel while flying on the same CPU. All right, so what we're going to do now is we're going to switch over to demonstration. Now, when we were setting up this demonstration, we originally just thought we'd have the telemetry system going. So here we have the telemetry from the aircraft. See it's coming through live. It's currently just being held a little bit off the ground. You can see its ground speed. There's lots of information I'll explain after it's in the air about what's happening. And we have got to go and kick off a, let's see, LCA screen. Let's see if that works. So there I am. I'm now logged into the aircraft. So far it's working. So let's take a screen within a screen and CD slash data slash kernel Linux. And yes, the clock isn't set. My apologies. What is the date today? It's sort of month. It's sort of 16th. I forgot to, we don't do automatic NTP. We do when it's got an ethernet bridge link, but it doesn't today for various reasons. So what is a date? First 16 and hour, you know, 11, 32, 2, 0, 1, 5, something like that. There you go. And make minus J2. Let's start building a kernel there. So it's already in going before we take off. And that should, that'll take a little bit of time. It's on a micro SD card. All right. So while it's flying, I will be, you know, let's also hook up a bit of a video link. We were imagining just telemetry. And then when we were out doing the test flight for this, we thought, hey, it would be cool to have some video as well. What have we got in our pockets? And Grant Morphert, who's out at the field at the moment, very kindly, just pulled out his Android phone and realized, I've got Skype on this phone. So why don't we do a Skype video link? So let's see if that works. And yes, there's the plane sitting out on the field at the moment. And the person you're seeing there is Jack Pitter, holding the transmitter. And there's the plane sitting on the grass, ready to go. That's our flying field, the red runway behind it. All right, so we're just about ready. And what we'll be doing is watching it move on this map and watch it compile this kernel. So, and I'll just create another root arm there.  All right, so, Grant, can you hear me? Grant, do you hear me? Great, Grant, OK. So I believe we are ready to launch when you are. Yeah, ready to go. OK, so let's, now, I don't know if he's organized a good way with the video link, we'll sort of, let's see how this goes with all these screens, et cetera. All right, we're in manual mode there. There's the plane. He's checking the stabilization, making sure that it's going to stabilize and fly. These are the standard ground checks you do before takeoff. Mode auto, way point one. Yep, he's ready to launch it and it'll automatically detect the acceleration from the throwing of the plane and then start the propeller based on that acceleration. So it's an automatic takeoff, but with him just throwing it. There it is, it's heading off into the sky. So, and we can see that the kernel is still compiling down here and so the plane is heading towards its first way point up here. If I zoom in on that, you'll see what it does and the video is actually fairly meaningless at this point because the plane is just a dot in the sky. We might bring it back for the landing, but it's now turning around it. We may lose the video link, Skype's not that reliable. Now, there's a fair bit of wind. There's about 12 to 15 knots of wind, which is a fair bit for a plane of this type. And so you will see it crabbing a fair bit as it goes around the way points. You can see it's approaching that next way point. It'll do three circuits around this automatically and then it'll switch to its landing pattern. So you can see if I just make this map a little bit bigger, then you'll see that you see it's crabbing a fair bit from the wind effects. It'll automatically switch over to way point seven here when it gets to this point and then come in for what we hope is a perfect landing, automatic landing. And there really is a fair bit of wind there, as you can see. But it's tracking quite well. You can see that the actual path between the way points is not bad. Lennox is doing its job. We haven't made a lot of progress in this kernel compile. So it does. This is a very slow CPU. The Beagle Bone Black is a very slow CPU. Compiling the kernel would normally take with all the modules and everything about five or six hours. While it's flying a plane, it takes about 11 hours to compile the kernel from scratch. So, but the main thing is to show it as a bit of a stress test. And it was actually quite a good stress test. As I'll show you some of the talk later in the talk about things that, you know, don't always work exactly right. You can see it's much faster downwind than upwind. It's really starting to accelerate. So there we've got, yeah, so we had like 25 meters a second ground speed, 15 meters second air speeds. We had about 10 meters a second, 20 knots of wind at that point. And it'll struggle a bit more upwind. So the wind varies a little bit. Right, so let's watch it go around. So let's think about what it's doing while it's doing this. So this little board, or it's just like one of these, is it's doing, in this particular configuration, it's doing about 1200 SPI transactions per second. Those SPI transactions are pulling data from a three-axis gyroscope and a three-axis accelerometer. It's also doing a lot of SPI transactions from an MS5611 barometer, an HMC5883 magnetometer to get the heading, and it's pulling data. We don't actually have the laser rangefinder on this. So we're reliant on it being a fairly short flight so we don't get a lot of barometric drift on a larger plane for a longer flight. We normally have a laser, you know, Linux-powered flying robots with lasers on them. What's not to like? So there it is rounding that corner and it should soon then do the last leg up towards the landing. It's also doing an awful lot of IO. It's helped by this board having a couple of little real-time units, programmable real-time units, and they're doing the microsecond accurate stuff in the plane because there's some things that need to be microsecond accurate. Most things don't need to be microsecond accurate. Most things can be, you can see it's heading towards the landing path there now. So it might be worth popping back. Once it's in the final approach, the video may make more sense to not just be a dot in the sky. So let's see. Okay, I might have to recall him there. We may well have lost the Skype link. Let's see if we can get the landing on video. Unless, of course, it's a terrible landing that I'll shut it down. But that photo I showed of the plane in the middle of the runway nicely, that was the last test result. So can we get the landing grant? Oh, we lost video. There it is. Okay, we should get the plane coming in here now. So hopefully we will see the plane on the video. And let's see how it does. So anyone spot the plane there yet? It should be coming in. Somewhere there, there's a plane. Presumably Grant can see it because he's pointing the phone at it. Oh, there it is. All right, there it is coming in for a landing. Crabbing L34, speak to the camera. Yeah, quite a bit of crabbing there. Hey, so that's not bad. It's landed okay. The plane has survived. Anything you could walk away from is a good landing. So thank you very much, Grant. Thank you very much, Jack. A round of applause to our helpers in Canberra. All right, so thank you very much. And so we'll shut that link down now and I'll get on to the other technical part of the talk. So shut that down. We've still got the kernel compile. We've made a bit more progress now. The kernel compile. So, but I'll just leave that running. That's fine. And eventually we'll get a kernel we can use. So somewhere here, I've got a talk that I was going to give. Yes, okay. All right, so as I said, that was a Beagle Bone Black with a PXF Cape, a little electric model. You can also fly much bigger planes, people where you can do ground vehicles, you can do multi rotors, lots of things. I'll just turn off that audio from coming from the ground station there. They might go for another flight, you never know. So the setup in that particular demonstration, just so you know what it was composed of, there was a 3813 with the RT preempt patches. Thank you, Ingo. And so it was running RGPilot 3.2.1. The particular sensors that that flight was using is the MPU9250 accelerometer gyroscope, MS5611 barometer, U blocks, GPS, a compass, a air speed sensor, I squared C, air speed sensor, differential pressure sensor. The IO input, in case Jack needed it, Jack was the pilot, it's a model aircraft with a model aircraft controller, and Jack has at any time the ability to take complete control. And so that was via S-Bus, and there's some interesting twists to doing S-Bus on Linux that I'll talk about a bit later. And the PWM output was on the other PRU with the microsecond timing to in order to control all the servos. There were two telemetry radios, one for the main mavelink telemetry and the other for the root shell. So, and that's how it all worked. Okay, so autopilot boards and ports. There's been a number of ports of RGPilot done in the last year, and the PXF Beaglebone Black was the one that I showed the diagram of at the end of the last talk last year from 3D Robotics, and 3D Robotics has really been pushing this technology hard and I'm enormously thankful to the support they give the RGPilot community. There's also the Earl Brain, and so this board here is actually from Earl Robotics. They made all of the hardware, is open hardware, all of the software is free software, open source software under the GPLv3, and so Earl Robotics is Victor, he was a Google Summer of Code student. And at the end of that, he started a robotics company, which is a great way to go through from your GSOC, fantastically successful GSOC we had, and he started a company, Earl Robotics, and then he started making these boards based on the open hardware design, and he's now selling them as a commercial autopilot solution based around Linux, which is brilliant. Then a second one popped up, I thought that was fantastic that somebody had actually started producing a Linux-based autopilot on the open hardware designs. Then another one cropped up, Emlid from Russia. They did a Kickstarter, and they've started a company, they've got a whole bunch of employees, creating Raspberry Pi capes. So there is the NavIO cape for the Raspberry Pi, that's a standard Raspberry Pi underneath it, and it flies planes and copters and drives rovers and boats. And again, it was a relatively easy change because the way we'd built the code to be portable and easy to adapt to new boards, they were able to create the NavIO board, and they've just announced last week the NavIO plus. Unfortunately, the one they're sending me hasn't arrived in the post yet. It's probably in FedEx now, and that adds even more features. That's a great way to get into things. I'm delighted to see them starting and I wish them every success. There's other ports as well that have happened in the last year, and IMX6 port was done within 3D Robotics by Alan Matthew, a zinc port, which is an ARM core with an FPGA on the side, was done by John Williams in Queensland, and the newest port, I was delighted. Sitting in another talk here at LCA with my laptop open when a pull request arrived, adding support for a new board. And that's the BBB mini port, which is also Beaglebone Black Base, but a much, much cheaper, simpler sensor board on the top, more of a sort of do-it-yourself cape put together by a guy called Merkix. And the thing I was really delighted about by that patch, A, it was really nicely structured, B, the entire patch to add a support for a new autopilot board, 43 lines. Tiny. And basically his patch said, hey, it looked like it'd be easy to throw together another one, one that's easier and cheaper for people to throw together on top of the Beaglebone. Here's the patch set. I'll start a wiki page, documented, et cetera. Marvelous. We're really getting a community going around this stuff. So I was delighted to see that one come in. So there's now a wealth of boards available. And I should say, by the way, that don't get the impression that ArduPilot is the first open autopilot to build on top of Linux. There's lots of free software, open source autopilots out there. There's some really great ones. Tower Labs, OpenPilot, Paparazzi. There's a PENGU pilot. There's AutoQuad, lots of other good ones. And several of them have done Linux ports as well. So we're not the only game in town, but we're really delighted to see the progress in our particular corner of the free autopilot world. All right, so I was going to tell you a little bit about what's going on underneath when it's flying a plane like this. So all of the fast sensors, the ones you've got to get the data off really quickly. That's basically accelerometers and gyroscopes in particular. You have to get data very quickly in order to be able to get a good result. And by quickly, I mean that you want to be sampling them at around a kilohertz or so. So a millisecond or so between samples. And they're on the SPI bus, right? Serial peripheral interface bus, which is an ideal bus for really short haul, centimetre or so within a board and high rate. They're short transactions. So each transaction on the SPI bus is typically around 20 bytes or so. And they're not done with DMA in case anyone's curious because the DMA setup costs are too high. So you're better off just doing it, just hitting the register of the peripheral to get it to do the transfer and then waiting for it. This board, this Beaglebone Black, despite the fact it's a very slow board, as I said, this sort of board takes five or six hours to build the Linux kernel. It's not a fast processor, single core. It can happily handle through the user space SPI dev interface around 4,000 SPI transactions per second with a 25% CPU load and no lost packets, which is pretty good. And that was one of the big questions as an open question during my talk last year is would we need to do kernel drivers for all these devices to make it work? Or could we use our user space drivers? And you may ask, why do we want to do user space drivers? We've got this nice GPL kernel. We can just shove drivers down in there. The reason is that by using user space drivers, the same driver via our hardware abstraction layer in ArduPilot runs on lots of different operating systems, not just different flavors of Linux, but the same driver that drives the MPU9250, MPU6000, these various sensors, the same driver is used on this APM2 with eight kilobytes of RAM and an eight bit microprocessor running at 16 megahertz. The same driver is used on the Linux box at a gigahertz by just writing a tiny wrapper thing that exposes SPI-DEV. It means we only have to write the driver once. We can make sure the driver's reliable and we just have this nice hardware abstraction layer that I talked about last year. Okay, so that was actually quite a surprise that SPI-DEV worked so well on these boards. At each board we've tried it on, it works really well, which I didn't really expect. So that made things an awful lot simpler and that's partly why we've made so much progress this year. The slower sensors tend to be on I squared C. So I squared C goes, it tends to go across cable lengths of maybe 10 to 20 centimeter type lengths. So that's for going off to your compass or your airspeed sensor. It's particularly used where you don't need really high data rates and the sensor prefers to be further away from the rest of the action in the plane and it wants to be further away for interference purposes. There's this rule in drone design that every component of the drone wants to be as far away as it can be from every other component just because they all interfere with each other in horrible ways. So we put some things out on I squared C buses. In the future, UAV CAN bus is gonna be replacing a lot of that and so we have our first CAN bus electronic speed controller relying on the UAV CAN and the CAN bus support in Linux which is great and on other platforms and there's a CAN bus GPS and barometer and compass. Bit big, but yeah, CAN bus is great stuff. You'll be seeing a lot more of it I think. All right, you don't like CAN bus? Bit tortured by it at the time. Bit tortured by it, okay. Well, I love it. The UAV CAN, if you see UAV CAN.org and Pavel's work on that, absolutely brilliant. He does a lovely abstraction and things portable to lots of different operating systems, et cetera. We just take advantage of Pavel's work. All right, so scheduling. So the first question I tend to get from people who've worked a bit in the Linux space when I talk about running an autopilot directly on Linux is so what about scheduling? Aren't you gonna get long delays sometimes and isn't that gonna cause the plane to crash? And I hoped the answer would be no. And so we tried to design things appropriately. In that particular plane that was flying then, it had six real-time, as in FIFO scheduled threads with all the usual real-time stuff, pre-faulted stack, locking all the pages, all the usual things that you do in a FIFO scheduled real-time task to stop surprises. These are the threads that it's got and they're in priority order, from highest priority to lowest priority. So there's a timer thread, which provides any device drive or any component of the autopilot can say, I'd like something to happen regularly, please, as a multiple of one millisecond. And the timer thread basically does all those things and calls them. You can register a callback that happens at one kilohertz and that happens on that timer thread. There's a UART thread for all the UART serial operations for talking out to telemetry, also talking to GPSs if the GPS is a UART-based GPS. Not all GPSs are UART-based. The one on this board is actually SPI-based. And there's a RC input thread for processing all of the RPS radio input pulses from transmitters. And there's a main thread, which is the bulk of the autopilot logic, the navigation and that sort of thing that's actually in one thread, which suits our architecture, but we use our own little mini-schedular system within that thread to manage the timing within that thread. Then we have a tome alarm thread on this particular board that handles the buzzer. If the sound had been good enough, you would have heard it singing a little bit to us when it was starting up and making various buzzing sounds to say things are good or things are bad. Hopefully all the buzzers were good. Then there's an IO thread, the lowest priority for all of the file system IO, logging, parameters, terrain data. That's something that's happened in the last year. RGPilot can now automatically follow terrain off in the distance, and we use that in the Outback Challenge very successfully. And so it's got to store the terrain database, build the terrain database and store it somewhere. So that all happens in the IO thread. So that's the basic scheduling. And so I thought that that was all good. It seemed to be working really, really well until I was preparing for this talk. And as so often happens, when you're putting together a talk, sometimes you actually run across bugs. And this talk was no exception. So I did an 11 hour test. I thought, well, let's see how long it does take to build the kernel while running the autopilot. So I ran the autopilot just in a bench test, still doing all the same work it does in the air. And an 11 hour test, building the kernel off a micro SD while running ARGIPilot on a big old bone black. It's a 50 megahertz main loop. So we expect a 20 millisecond loop time. And you can actually see here, if I scroll back a little bit, hopefully you'll see little numbers pop up. Maybe I've scrolled too far. There it is. Can you see all those timing numbers? You know, maximum minimum. You saw that sort of maximum 20 milliseconds minimum 18. That's sort of reporting every 10 seconds what the worst case and best case timing for a 10 second period is. And you want it to be around 20 milliseconds, you know, millisecond or two either side doesn't matter, but around 20 milliseconds. So during that 11 hour test, there's about two million loops were executed. 19 of them were over 30 milliseconds. That's no problem for an autopilot. All the algorithms in autopilot scale with time, you know, to some degree. 20 milliseconds, 30 milliseconds, 50 milliseconds. Yeah, if it's 50 milliseconds a lot of the time, it'll look a little bit jittery in the air, but it'll still fly. You know, most users would never notice. One loop in that entire 11 hours was over 40 milliseconds and that was 1.7 seconds. So once there was a 1.7 second miss. I still need to find that and the difficulty is reproducing it. So I've been chatting to some people here at this conference about how to debug that sort of thing, how to find the cause, almost certainly some driver. I have my eye on the MMC storage driver for the SD card. Maybe waiting for some response from the micro SD card and it waited 1.7 seconds with interrupts disabled is my current guess, but I haven't yet delved into it enough to really know. And I may be, you know, aligning the MMC driver completely in an unwarranted fashion. So the challenge now is to find the cause and fix it. And the suggestion actually from Paul McKenney was to concentrate on the 30 millisecond times because they happen a lot more often. And if we can find the cause through the latency analyzer or some other toolkit of the 30 millisecond times, then perhaps that will lead the way to the longer timeout. So apart from that, in the 11 hours, you can see it does actually fly. It actually flies very nicely, flies just as well on Linux as it does on the dedicated autopilot boards. But just occasionally you could get a long delay. Now, if that happened during a real flight, if it's straight and level flight, you wouldn't even notice it unless you look at the log carefully, right? Because we log all these things. But if it was taking off or landing at the time, that could be tricky because then it's going to go straight ahead for 1.7 seconds, which at, you know, 15, 20 meters a second, you might have gone 30 meters in the wrong direction. And that's, you know, hit a fence, hit a tree, something like that. Hopefully not hit a person. All right, so that's the, you know, if you find bugs and found bug while preparing for this talk. Okay, so I thought I'd talk a little bit about the PRU code. And basically each autopilot board, you need to solve a few different problems. The most of the problems, just by using Linux are solved for you. You've got the SPI dev and the I2C dev. It's really just a matter of wiring. But there's two little areas that you really have to think about and solve for each particular instance, each autopilot board I've got here. And that is the two things that have to be microsecond timing. That's the RC input, right? Decoding the pulses that tell it the commands from the pilot what to do, right? They need to be decoded with microsecond precision. And the PWM output going to serve those or motors to basically make a motor spin at the right rate, right? That those pulse widths need to be microsecond accurate. And Linux is not good at that sort of, you know, microsecond stuff if you're doing something else as well, like flying a plane. So the solution that is used on this particular board is to use these two little PRUs, programmable real-time units. And what they are is two extra little CPUs on the Beaglebone Black that share 8K of RAM with the ARM. And they run at 200 megahertz, so they're a bit slower than the main ARM, but they run very, very simple code. There's no kernel or anything on them. They're just running extraordinarily simple code. And they have direct access to the IO pins so they can read pins and toggle pins at, you know, 200 megahertz type rates. And there is a C-compiler available. Unfortunately, the source code for the C-compiler isn't available, but there is at least a, you know, a binary of a C-compiler available. It's not a complete C-compiler, but it is usable. You can also program it directly in assembler if you want to, because the programs you write for the PRU are very, very simple. So the first high-rate timing task is radio control input. So you've got yourself a transmitter, RC transmitter. If any of you, you know, fly radio control planes, you'll be familiar with that. They tend to put out from the receiver in the aircraft one of three things. Either what's called PPM sum, which is just a multi-channel pulse width based RC input, right? Each width of each pulse in microseconds gives an idea of a number, what you want the plane to do. 1500 neutral, you know, 2000 turn right, 1000 turn left, that sort of thing. Then SBUS, which is a 100 kiloboard inverted serial input, right? And the fact that it's exactly 100,000 board is a bit awkward because typical UART chips don't do 100,000 board. And it's inverted, which is annoying, again, you would need extra components to invert it if you wanted to use it in the standard UART, unless your UART has the ability to handle inverted serial. Then there's DSMs, also known as Spectrum, which is 115-200 board, and it's not inverted, and it's got a nice framing as does SBUS. Okay, so we wanted a solution that was as generic as possible so that person who makes each Linux-based board doesn't have to solve these three problems each time, themselves, right? So what we did was we built a, on the ARM chip, which is running at gigahertz, has oodles of CPU relative to our past auto pilots, it has a software bit-banged serial port implementation that can in parallel decode all three protocol streams from one pin input. So you attach your receiver, any of the types of receivers to this one pin, and that one pin on the PRU, the 200 megahertz PRU, is just polling that pin, producing a pulse train, and it calls a function called processRC pulse, which puts it into three parallel decoders, bit-banged serial parallel decoders, that, and whichever one says unvalid, the checksums are sensible, the number of channels is sensible, unvalid, that's the one it is, and for that frame, you decode it that way, it works beautifully. And it meant that I was extremely simple to, on each autopilot board, to support all of the different RC input systems. It also avoids the need of multiple UARTs. One of the things that is scarce in microcontrollers tends to be UARTs, you run out of UARTs, and they're really valuable. All right, so on the PRU-1, we do the RC input, PRU-2, so it's 70 lines of C code on that PRU, that's it. Tiny, just manipulating a ring buffer. The second PRU has 235 lines of C code to handle all the PWM output, and that's going off to the motors, generating the pulse train for the motors. Again, just a shared, piece of shared memory with the main arm, no locks, it can all be done atomically, and very, very simple, and there's your real, there's your microsecond stuff. All right, so I've only got a few minutes left, and I did promise in my abstract that I'd talk a bit about the Outback Challenge. How many of you were around for my talk in 2011 where I talked about the Outback Challenge? So at that time I was talking about us planning to do this thing called the Outback Challenge, which really inspired all the work I've been doing for the past few years. And we entered the Outback Challenge in 2012, and we won the challenge, but we didn't get the grand prize because we didn't drop the bottle on Joe. The plane has Autopilot plus Odroid, like I showed you before. This is the plane we entered in October, 2014. That's it, flying at our local flying field. 50 cc petrol motor, 14 kilograms, 2.7 meter wingspan stuffed full of electronics. You can see the antenna stalk sticking up the top. So that's what it looks like on the ground station, big LCD monitor. That's the Canberra UAV team sitting there monitoring the flight. The plane is about five or six kilometers away at that time during the competition. And you can see the all our GPL software running on the screen, which is doing the automatic image recognition within the aircraft, recognizing Joe and displaying it to the user, so the operator and the map, et cetera. A lot of image recognition type stuff. This is the path we flew. So you can see we flew away from the airport at the top there down to do a search pattern, right? We flew about 60, 65 kilometers in 40 minutes or so to do the search, a lot of circling around at the end, above what was Joe. This is the big moment for us when it's dropping the parachute, dropping the bottle. You see the yellow water bottle there onto Joe. And you can see that blue square about a third of the way up from the bottom. That's Joe on the ground and the bottle going down towards him. The plane had estimated the wind automatically compensated for that and to drop in the right point and the timing, et cetera, all of that. And you'll notice that the image recognition system has automatically put a box around Joe because it keeps looking for Joe all the time, even though it's now doing the drop, right? And that was it automatically saying, that looks a bit like what we're looking for. So that's the end result. That's Joe in one box and the image recognition system getting confused and thinking those two people next to Joe look like they could be Joe too. So maybe there's two Joes now. And so that's our bottle on the ground, 2.6 meters away from Joe with the two organizers. We circled back over to make sure that we got reasonably close. We were circling above them at the time, monitoring what they were doing. And this is a photo taken from our plane while they were measuring the water out from the water bottle to make sure that we'd met the requirements. So, and there's the team afterwards where we got the prize and we finally get to meet Joe. And so that competition's now done and they've got to come up with a new competition next time. Four teams completed the competition in October. So it was fantastic effort and a couple of teams went very, very close. So it's marvellous to finally complete that. And next thing I'd like to talk about before we take some questions is dronecode.org because the other big news in the last year is we've started a new organization, dronecode.org which is an umbrella organization. It's a 501C6. If you've been to any of Karen's talks or Bradley's, you'll know what that means. And it's part of the Linux Foundation Collaborative Projects. It's a forum for collaboration between projects, users and companies using all of this technology we've developed free and open source auto pilots and ground stations and image recognition from the whole ecosystem around this. So if you wanna get involved, now is a great time to get into on the ground floor. The first dronecode conference is at the Embedded Linux Conference in San Jose in March where I'm gonna be giving a talk along with a lot of other people from the community. So if you're in that part of the world in March, please come along to ELC. There should be some fantastic presentations by people that know an awful lot more about auto pilot design than I do. I just write bits of code and they do all the maths and things to actually make it work. So that's really about it, the main presentation. So we've got just a few minutes for some questions, I think. We can see whether the plane is still there. So... Trich, first question. Yes. What is the permissions you need for this, like with the air control and... Right, very good question, yes. So before doing this flight, I did actually ring up CASA and discussed it with them and spoke to a very nice person at CASA who thought about it and spoke to his colleagues and got back to me and said that, yes, we can do it as a model aircraft. So Jack was there with the transmitter. He was the pilot. It was being flown there. I was not actually controlling the aircraft. Technologically, could have, but Jack was actually flying it as a model aircraft in Canberra. And there is a lot of things around, the regulation space. And so I thought the best thing to do was just to ring the Civil Air Aviation Safety Authority, ring them up directly just in the front door and say, is this OK? Right. The board's starting to look a lot like a flying tricorder. Right. Are you planning on actually adding any more input sensors? Oh, yes, sensors get added all the time. The flavour of the month sensor at the moment and the one a lot of our effort is going into is an optical flow sensor. So an optical flow sensor is basically an optical mouse for a plane where the Earth is a mouse mat. Right. And the plane has a mouse and it literally uses the same types of sensors as you would find in an optical mouse like that. So it's flying along. The only difference is that wobbly hand, it's moved around like this so it's got a gyroscope as well so it can compensate for the rotations. And what that gives you is basically the ratio of your height above the ground to your speed. And so if you've got your speed from GPS, you can get your terrain height. So you can actually automatically track what the terrain height is, great for landings, great. If you lose GPS, you can do great position hold, great for indoor flying, all sorts of things. There's also things like scanning lightars. You've got these couple of lightars like this. So that's a laser rangefinder. They're great and this one goes about 40, 50 metres or so. There's ones that go up to 100 metres. There's scanning ones that scan around. Then there's camera systems, imaging. I mean, one of the points of going to Linux is you move to gigahertz class, gigabyte class systems. So I'm planning to put this cape on an Odroid C1 that I've ordered. This cape is compatible because it uses the hat standard for Raspberry Pi's. And so the Odroid C1 is a quad core CPU, really quite fast, a lot faster than Raspberry Pi. This hat should fit on it. And that would then give me a quad core one for doing a whole lot of imaging stuff. So slam, that sort of thing. And recognizing other aircraft in the sky and heading away from them towards them, depending on your predisposition. So lots of fun things that you can do with lots and lots of different types of sensors, which we're adding all the time. Any experiment with radio transponders for positioning? Radio transponders for positioning. There's a lot of interest in radio transponders for avoiding other aircraft. Unfortunately, some manned full-sized aircraft don't carry transponders. And so you can't completely rely on that, which is one of the difficulties of integrating in national airspaces. There's also efforts on using cameras to recognize other aircraft and that sort of thing. But radio positioning, there are some efforts to try to do radio positioning, mostly for indoor in, say, a gymnasium or something or a room like this. And there's various technologies for local positioning systems. You can do things like radio direction findings, stuff like that. But outdoors, most people use GPSs or fancier GPSs like RTK GPSs or the differential GPS I talked about in Perth. There's lots of different positioning systems. There's far too many of them for me really to talk about in a one-minute answer. Next question? Yep. We should really fly our quadcopter over with the microphone on it. What could go wrong? Says Darryl, the quadcopter pilot. Yep. OK, yep, good. So in the last Outback Challenge, how many of the other competitors, competing teams were running your code as well? So the question was, how many of the other competitors were running our code? And I think all but one team was using at least some code that we had written. And partly because, and we wrote the firmware for the radios that most teams adopted, the RFD 900 radio, which was a long-range preliminary radio. But then they also, some teams used our image recognition system, some used our ground station. There was a lot of cross-pollination between teams, which we encouraged because we thought the aim of the competition was to advance the state of the art, not to win some money. So it was great. So to varying degrees, teams collaborated. And it was a great demonstration that being open in a competition, throwing all your code out there, everyone knew exactly what we were doing, could see every commit as we did it. On the day, we didn't hold anything back. You can still do well. And it was a good demonstration. We demonstrated that in 2012, then again in the 2014. And it was a fantastic collaboration between teams. Given the complexity of a modern Linux system and that you've got this thing flying around physically in the air, what happens if something goes wrong? What thought have you given to safety interlocks? Or somebody runs shut down dash H? Or the whole thing glitches? Right, you can get glitches, but there's actually, I mean, a two kilogram phone playing, it actually isn't really a great dangerous thing. But there are safety we've got on some of our autopilots and automatic bypass to give the pilot absolute manual control should the code die. You can also have foul safe systems to automatically shut down the motor. And in the Outback Challenge, we had a system where it was required by the competition that under a very complex set of conditions, any one of the following conditions happens, the plane had to automatically put itself into a spin and deliberately dive into the ground. And that had to be a separate microprocessor, a separate CPU with separate power. To did that, it was monitoring the main one. And if it didn't get the right little updates, a couple of hertz to say that everything's fine, or if anything else, one of there's a long list of things went wrong, the foul safe system had to automatically cut in and dive that plane into the ground. So there's lots of things you can do. And it was a great idea that the organizers had to have this termination system. And that code is now a standard part of AguPilot. Anyone can enable automatic termination. Make sure that you know what you're doing before you enable it. Please read the documentation first. I have seen people's log files where they've been flying with the AFS Terminate flag turned on.  And not actually configured the rest of it to say under what conditions should it terminate. Exactly, exactly. All right. OK, I think we're about done. Thank you very much.


It's interesting to notice that they are not asking Jesus to kill them or cleanse them, they are asking Jesus to have mercy on them. It's very important anytime we come to God having a problem, not to ask God to change our problem, but to change our heart. Many people come to God to change their circumstances. But the interesting part with all of the bad circumstances in our life, there's one common denominator and that is you and that is me. And if God keeps changing our circumstances without ever changing our heart, it's a matter of time we'll find ourselves in the same circumstances very quickly. Most of us don't need our circumstances to be changed first, we need our heart to be changed first. And therefore our prayer when we are in need, in sickness, in poverty, marriage falling apart or our health falling apart or we have nightmares or attacks, most of us are tempted to run to God and put our hand into His pocket and get a miracle and have Him change our circumstances. And many times you will see that the Lord will long in not doing that right away. Because He sees that the real problem is our sin, the real problem is our heart and He wants to change the cause of our problem, not just deal with the fruits of our problem. Because somebody say amen. Most of us are seeking healing when God wants to seek, for us to seek forgiveness of our sin. And these lepers, I mean if there was anybody who should come to Jesus and scream and yell please Jesus heal us, it will be these lepers. Yet we see them coming to Jesus and say please Jesus have mercy on us. I'm not sure whether they heard the testimony of Bartimaeus. When Bartimaeus used to be blind and instead of asking Jesus to open his eyes, he asked Jesus to have mercy on him. Don't be afraid. Sometimes people like, well if I don't tell God about my problems, He's not going to know. Really. You believe He doesn't know about your problems and you believe somehow He's in heaven and you're on earth and He hears you? Why pray if He doesn't know your problems? If He doesn't know your problems, He can't hear you then. God knows everything. But God wants to know that you know your problems. God wants to know that I know the real problem that I have and the real problem is my heart. Not always my pocket, not always my relationships and not always my circumstances. Anytime you try to advise couples who have marital problems and the funny part is they always feel like it's the other person.  People say no it's 99% her problem and mine is one small slice and the only reason mine has a slice is because of her 99. And please consular I'm paying you convince my wife to get rid of her 99 problems so that I could finally get rid of mine one and not realizing that is not however it will work. If you ever been married to more than few days you will know one thing. This will never ever fix your relationship with your spouse and this will never work in your relationship with God.  Proper priorities means your heart the change of your heart is more important than the change of your circumstances. The change of your mind is more important than the change of your life. Can somebody say


Hi, and welcome to the session. I am Deepika here. Let's discuss a question which says represent graphically a displacement of 40 kilometer 30 degree east of north Let's start the solution now in this question we have to show a displacement of 40 kilometer 30 degree east of north That is from north we are moving towards east By 30 degree and we have to show a displacement of 40 kilometer Now here the vector OP Represents are required this placement. I hope the solution is clear to you By have a nice day


Hey everybody. Welcome back to another installment of a week in Geekdom. I truly wish it were under better circumstances that I'm recording this video. But unfortunately it isn't. I made a... I shared something from my personal Facebook on the community tab, so if you're subscribed to the channel you have some understanding of what's been happening. This video was supposed to go out a week ago. And I can safely say this is the hardest challenge in my life so far. But God is good and He has placed this amazing wall of love and comfort and support in so many people that have reached out and have told me how much they care and their sympathies and their well wishes. And I don't think ever in my life I will be thankful. Or not. I don't think ever in my life I should say. I'll find the time to completely appreciate each and every single comment. It's just overwhelming the emotions that I'm feeling. And it's just... it's been a devastating couple of days, weeks. I'm gonna... this video is supposed to be a happy one. And I have to be happy because I'm alive and I'm here talking with you guys. But the heart of the matter is it's not a happy video. This is a channel update and November, I guess, haul video or whatever because it was originally going to be a haul video for the month of November. All the geeky stuff I acquired in the month of November. But unfortunately, at the start of November 2020, my dad had an accident. He was... and I'm gonna be completely transparent with you guys because I'll tell you why in a bit. He was... he was... he was such an amazing person. He was cleaning a roof, part of the railing and a rooftop, the back of the house, if you will, because recently a rat or something died and he was cleaning it. He set up the ladder and fortunately, because he was hosing everything down, the lost footing, the ladder slid and he fell. He broke his knee and was in the hospital for a couple of weeks, which was why I was not doing as many videos and I was suspending things and I was cancelling stuff and I wasn't even on the Albinobus Collectors Network, like I usually am, Mondays and Thursdays. I did one episode, but that was because dad was out of the hospital and he was home. So I was taking care of him and usually at night, dogs are outside and I gotta watch for them because it's an open area and they're Labradors and a frog can come in or something and Labradors instinct is to hunt, right? So they could get poisoned, sick and die, which has happened in the past where one of them bit into a frog and we had to take him to the vet urgently because he was going to die out of the poison and all that stuff. So at night, it was either a dad or myself that was looking after them, but since he's in bed, he was in bed and he couldn't use his leg. I had to do it, so I wasn't available to do videos, live videos. So after that, he started getting physical therapy to better his leg and they were saying like maybe February, January, February, he'll gain his footing back and all that stuff and it was a long process. He was a little bit frustrated and a little depressed that he was just stuck on his bed because he was such an active guy. He was always in the front or the back of the house doing something, whether it's yard work or building stuff or even in his little office and looking for stuff and downloading PDFs, which he loved reading. So last week, he finally, with enough physical therapy, he was starting to be able to stand up a little bit and use a walker. So last weekend was Thanksgiving, Thanksgiving weekend, I should say, and it was that Thursday up till Sunday on the 29th was some of the most impressive, magical, beautiful days that I've ever spent with a loved one. My dad, I loved him. From every fiber of my being, 33 magical years, he loved making people laugh and talking with people and helping people if he could. He wasn't a gamer, but because he loved me so much, he would play games with me.  One of our favorite games was Mario Kart and you might remember a couple months ago when I did a haul video and I hauled a Mario Kart 8. Now there was two reasons for that. One, I wanted to add it to my Switch collection because I haul in with the Switch and collecting as much as I can for it than I want because there's a lot of crappy titles out there for the Switch. There's like 3,000 games, but one of the games that I really wanted to add, the essentials if you will, was Mario Kart 8, but also I'm an only kid and the few friends that I got, they're gone and I don't mean like in a bad way. They're just, you know, you grow up and everybody goes their separate ways, right? So I don't have a lot of people to interact with aside from Omni Bros and all the wonderful people at the OmniBus Collector's Network, the Fangirls, all those guys, which I'd love so much, but let's face it, they're digital. I'm far away where I can't physically come in contact with them, especially in 2020, right? So I was always by myself and one of the things that I really enjoyed was if I would get something really cool, my dad would be there and I'd be, oh dad, check this out, this is awesome. He didn't really care, but he cared. You know what I mean? It's not like he was an avid gamer, but he would play with me and he would actually really like Mario Kart. He really enjoyed that game and I got Mario Kart for that specific moment. I remember when I got it a few months later, I think sometime in September, we had a whole freaking day, a whole marathon, like five, six hours. We played every course on the Switch. I put it on the TV, Pro Controller, Switch, Control, all that stuff. It was awesome. I loved that day. So after that, you know, he was now, this month in November, he was in bed and I know how taxing that can be and I wanted him because TV sucks. I mean, he wasn't huge into streaming. I have all the streaming channels, but he didn't really care about that stuff. He mostly watched Nat Geo, Animal Planet, Sports, Motor Trend, stuff like that. That stuff, you know.  It's terrible. So I would say, Hey, you want to play with Switch? No, maybe later. But on this past Thanksgiving weekend, he played Switch with me and we played back and forth with Mario Kart. He tried to beat a course. If he couldn't do it, I'd step in. I showed him my Animal Crossing Island. He knows how much I've been hooked on Animal Crossing, Super Mario 35 and Pinball FX3. Those were the Rotate, and I'm sorry for all this. Those were the rotating games, if you will, that I would keep playing with him. It was awesome. It really was.  I think it was Saturday evening or something. I even watched some crunchy roll documentaries because they did some that related to basketball and slam dunk, and we were having such a great time. So come Sunday, it was just another fantastic day. We ate great food, played more Switch, even my 3DS, which I have over there. I have Mario Kart 7 on the 3DS. So he played a little bit of that because I was charging the Switch because I ran out of battery, right? So after that, we watched some crappy movies, the Predator movie, the latest one, which is terrible, but he wanted to watch it. Anyways, I said, you know, that movie is pretty terrible. I even I haven't seen it fully seen it. But he was like, ah, let's watch it, whatever. It's something to pass the time.  It's not it's not a thing like yeah, I mean, you do like it, but it's not like after every meal, I got to have dessert. Well, this time he did. And I remember we were watching Deadpool 2, and he was complaining because I had to explain the plot because he kept telling me I could never understand these X-Men movies are too convoluted. And I said, yeah, they are pretty convoluted, but thankfully they're done now because Marvel's got them in Disney and Avengers, all that stuff. So they're gonna reboot everything. Oh, okay, cool. So this is around four, maybe five p.m. my time. I'm an hour ahead of the Eastern Standard Time.  My November pickups, haul videos or whatever. And at the same time, I was looking like a frickin hobo.  And he said, yeah, you do that. And then I'll take a shower because when he does, you gotta watch over him so he doesn't follow or anything because he hasn't busted up the light that he can't use. I said, yeah, okay, cool. So I shaved and I went back to tell him something. And by accident, my one of my toes got stuck underneath a door. Right now, it's hurts a little bit, hurt a lot back then when it happened a week ago. And he told me, oh, you got to be careful with that. You hit you. I didn't even tell anybody. And he was smart enough and was enough to know that something was up and told me, you got to watch out because you could lose a nail like that. Because gets all black and stuff because of the blood. And yeah, it's it's pretty idiots. It doesn't it doesn't hurt or anything. But it's, it's not a pretty sight to look at. So after told me get some ice on it. So I did. And I'm computers over there, which I use for streaming and all that stuff. So I was just looking at random videos while I had my ice pack on my toe. My mom is helping my dad to take a shower. And all of a sudden, I hear her screaming out my name.  And I run up there. And it wasn't that. They're going to share all the details. But I thought at first it was a low blood sugar episode. Because I've had that all my life. I can't do a lot of really hard work. I still don't know why I don't know if it's a heart condition or whatever it may be. I back in October early October, I did a glucose test where they pinch you like four or five times to measure what's happening. And you can't eat anything. And you got to drink a whole bottle of glucose and all that stuff. It's disgusting. Turns out I'm fine. But I am. What's the frickin word for it? I'm not even gonna edit this video hypoglycemic. I think it's what it's called. If not, I do apologize. There are two types of that. You can be a diabetic and be at risk of that. And there are normal people, like you and I, that on rare occasions suffer from it as well. And that's what I was told from the doctors that basically I got to eat. So I got to take my snacks and proper meals and all that stuff because I could go down that route and it's terrible. You get all dizzy.  And I thought at first that's what's happening. So I rushed. I was nervous at first. And I like a quick yell later like a second yell. I got into it and I grabbed multi beverage and sugar and all that stuff. And we gave him that stuff to you know, so he can get his thing again, his breath again. And it did. He he said like it's passing. But immediately after like a minute later came back up again. And this happened multiple times. It's at this point where everybody's freaking out and my uncle is there helping him. So he doesn't pass out or, you know, whatever. We we called 911 and they arrived. I had to leave the bathroom to open up right. So I was I was standing there.  I'm thinking this is this is the shittiest day ever. And I'm praying so hard for it not to get any worse. And dad's asking for me. And I tell him, I'm right here. I'm right here. And I'm grabbing on. I had to go. I had to go get the 911 and EMTs and all that stuff. So I had to leave for a second. And somebody took over. That's the last time I saw him.    Because I never talked this way on we can eat them. They took him to the hospital. Fortunately, he he didn't make it. That was a week ago, as of this video. And I'm still processing. I'm still grieving. I'm still I'm depressed. I'm angry. I'm upset. I'm still faithful. And if you've watched my channel, since day one, I've always wished wealth for you guys, for everybody. Because God is great. He works in mysterious ways. And I'm not one to understand that plan, what that plan is. But eventually, with more maturity and understanding and sort of this awakening, if you will, because things have to change, right? We're only here for so long. And we got to make the most of it. What I take from all this is that obviously this channel is going to change. Don't worry, I'm not going anywhere. I'm still going to do videos on on YouTube. Because this is what I like doing. And I know it's it's impossible. It's nearly impossible. But it's not impossible. And I am committed more than ever to doing this, to doing this for you guys, for myself, for my sanity, for my mental health. And I'm committed to doing this for my dad. Because he was my, it was my number one fan. No matter what I wanted to do in life, he always had my back. Whatever craziness it was, there's radio, YouTube.  And I made a stream before this, which I took down because my internet so crappy it actually cut out half of what I was talking about. And in that video, I was telling you guys that I wanted to update things for 2021. And that includes a better internet connection. And that is, God willing, hopefully going to happen around February, March, where there's going to be a new service provider, not new, but new for me. And if it works out, you know, they told us February, March, if everything goes well, no hiccups, I will see a massive significant upgrade to streaming. There's so much I want to do online. And I was, I think I found my calling when I started doing omnipros live when I started doing my videos. And I said, you know, this is really awesome. This is really cool. This is something that I could see myself doing for so long, because I like entertaining people with my I'm not the funniest guy or anything, but with my humor, my way of thinking and my anecdotes and my style. If I can entertain people and take them out of their crappy bubble, if you will, for a couple minutes of their time during a day, I've done my job. That's that was the goal. Plus, I'm going to be real with you guys, the whole purpose was this channel can get me exposure to other things that I want to do. Whether it's video game related, whether it's voiceover related, stuff like that, you know, so those dreams are still alive and well. And he dad was my number one supporter. And he was always so angry that, like, I would tell him, Oh man, this channel or that channel, he recently jumped this huge milestone. So many thousand subscribers and he's earning money and getting all these sponsorships and whatnot. And he got angry because like any good Baron, like, like, why don't you do that so that you can, you know, so you can get all that stuff to what why? Why are they, you know, if they can do it, you can do it to if they got 100,000 if they got 3040 50,000 subscribers, you can do it to you got to work hard at it. And he sent me you might remember earlier when I said about PDFs, he used to send me PDFs of how to make money on YouTube.  PDFs were many years old, by the way. So he always believed in me, he always said that I should, if I'm passionate about it, whatever it may be, this case, the internet, go for it. And that's never going to change.  But I'll take my blessings because I have, as of this video, 2.2 K of the best subscribers in the whole frickin world. And I love every single one of you guys. I don't know when the next video is going to be my plans are completely shattered. My heart is broken. It's going to take a while for me to stitch everything back up. I still got to meet leaking. But I'm pretty sure that he would have wanted me to keep moving forward. And I'm in a couple promises. This this this was also sudden. But I always told him I would make that channel grow. And I would frickin learn how to use Photoshop. He always wanted me to learn how to use it. And I was always interested.  And, like, I'll get something, or a book manga. And I'll say, Oh, I got it. I'll read it later. And I'll place it there. And I won't come back to it three four months later. And I've always struggled with that all my life. I've gotten better at it. But it's still there. So now with what's happened, I am trying to build up that resolve to work at this, it's going to be difficult because I don't have all the tools with me, aside from my heart, and my smarts.  I saw a YouTuber lately, complaining that he had like 2030 megabytes upload speed. And that was trash.  Wow, okay. Really, really, you you don't know what you're saying.  And they make stuff happen. And I've uploaded hundreds of videos on this channel with my limited abilities and tools and stuff. And I've made it work somehow. God has given me the strength to find ways to upload the content. And having the emotional support of family and friends has always helped. And and now it's no different. I need you guys more than ever.  That's okay. I don't mind. Leave a like on the way out if you if you're leaving. So long story short, we can talk about it later. We can talk about what I plan to do with the channel at a later time. I am going to be focusing more on certain things which I've hinted at the past that's not going to change and gaming streams all that fun stuff. It's it's it's going to happen 2021. It's going to be interesting and God willing, things will be a lot better. But you guys deserved that update. And I wanted to get this message out for you guys. I wanted I wanted the world to know what was happening. And I wanted them to know that the world lost someone special because I am who I am because of that person. And the mom should be a set upset if I don't give her credit to because it's true. But I am who I am because of that person. Until my last dying breath, I will be thankful. I will be so eternally grateful for everything that I was taught.  You move on. And you're with God. And I know I feel my heart around me. And all his memories feel me. You mean sustenance and life. And yeah, there are a lot of things I want to do in life that I haven't done. And everything will be done in his honor. Yeah, this video's super long already. I'm not going to edit any of this. Let's do the hall video for November. November 2020. I don't even know the feature of the channel when it comes to halls. I will be hauling much less because I'm going mostly digital, but I am still getting a few anime and manga. So yeah, let's start with manga, right? Manga wise for the month of November. Here we have the ancient Magus Bride volume 13 right there from kore Yamazaki. Here we have volume 18 of Demon Slayer. This is nearly over, right? 23 is the last one. And I think it's going to get about in June, July, August of 2021. That is annoying. From having by monthly releases, I'm not too sure. It was a long wait. And then they switched over to monthly releases to catch up. Now for the final three or four volumes, they're going to milk the hell out of it. And because the Demon Slayer, the movie is one of the best selling movies of all time in Japan, so they're going to milk that bad boy. So yeah, here's volume 18. I have not read this. I'm kind of thinking of reading that in a few. Finally finished getting blank canvas. If you might remember, I got volume two, three, or volume three, then two, four, five, and then I got volume one. So now I can do a whole read through and give you my honest feedback on the whole series, all five volumes. I got this because of the Uncanny Olor and New York Men condition. He basically insisted and begged that I get this. I told him, I don't know if I want to get it or not. And he was upset. You got to read it. So here is Maison Ikoku from Romyko Takahashi. Romyko, I've only read and seen Inuyasha, which I love dearly. So I'm looking forward to this. I've seen the Urusei Yatsura anime, but haven't read any of any of her work. So I'm really excited to collect Maison. Here is my very first light novel, which I got late October. This was on sale for this is retail 14 bucks. I think I got it for $7.99 off of Amazon. It's re zero volume one. And I don't know, I think I got it because I loved season two so much that I wanted to Oh, excuse me. I wanted to own the series in some shape or form aside from the anime. I didn't want to get the manga. I don't know. I felt like I needed to own a light novel in my Otaku weeb collection. I don't know what I'm saying. But speaking of wonderful collections, I got the second Pokemon Adventures box of this is basically gold and silver right here. But as you can see, comes with a cool poster inside. And you might be asking, Geo, why didn't you get the collectors edition? Well, I received from my folks three Kings day 2020. The first box it as a Christmas holiday gift. And if you know me, I never discard gifts and I treasure them forever. And I try and keep them as long as possible. I don't sell them or anything. So I didn't want to sell that box set. And obviously, they're the collectors edition are three and ones and I didn't want to double bit or anything. So the plan is I have all of this, which leads up to I think volume five. So I'm not sure right now, but I need to get this is from volume eight all the way up to 14. I need to get volume 15 in this format and then get the next collectors edition, which I think is volume six with the Ruby and Sapphire cover on it. I think that's and then I won't double dip and I can continue the series collecting the Pokemon manga in the nicer format. So yeah. Yeah. So I got that. Oh, and this little thing right here, which was actually the last manga. My old man saw God rest his soul. This is the Gnazik of the Valley of the Wind for Miami Izaki, the heart cover edition. This was on sale on Amazon. I think the cover price for this is 70 bucks and was on sale for $39. I jumped on it because I always wanted to own this. It looks so awesome. Fantastic heart covers here. Quick look. He was really impressed by it. And even though again, same the same anecdote I did with video games, he knew about anime and manga because you know, if you're a dad, you take interest in what your children like. So he knew about certain things, didn't really care for it, but still dug it that I liked it, you know. So he liked this and I can't wait to dig in and eventually review it on the channel and all that fun stuff. So looking forward to doing a video on the Nausica box set. Let's do anime right here. A couple months ago, I got a really great deal on Ironblooded Orphans, the Mobile Suit Gundam series. So I only got season one. And since they came out with a season two complete edition or whatever, they're reducing the price on this. So I got volume one for dirt cheap, I think was like 12 bucks. And I preordered the second one as well. But unfortunately, it did not arrive for this video, as is the norm on this channel. Another thing I got is Duda Duda season two or X2 volume four, I'm missing volume five and six, which sadly are out of print. I don't know how I'm going to get them because I can't find them anywhere.  I wish we didn't have right stuff exclusives, honestly, gives us a fair shot at finding them out in the wild or with more sellers online at lower prices. So I don't know. My plan is to get the region two version, which has it's basically five and six in one set. And I would get everything. Even if I can't watch it in region one players. I don't know. What do you guys think about the whole art region two region one thing? Should I get that it would mostly be for display purposes, because I can't play it. But I was I would obviously just watch it online problem solved. But yeah, I got this before it went out of print. These are pricey. That's the only reason I took so long. And, you know, too late, right? They sold out. So this is volume four of the series. If you watched my fall 2020 anime impressions video, I was gushing about Higurashi when they cry the new anime, turns out it's not a new series. It's a continuation, but it's also reboot ish, if you will, you can go in blind and enjoy it.  And I was so hooked on it. I recently got started to play the visual novel. And I found a really good deal on this. This is the complete seasons one through three collection 55 episodes on nine Blu-rays. And what's funny about this, I this was out of stock at Sentai. I bought it for eBay for a good price. And then for Black Friday, oh, 1499.  So yeah, regardless, I have it. That's, that's, that's what's important. So here is when they cry. And here is in Yasha, one day remind me one day to tell you guys a story about this. It's a pretty mixed feelings about this. But I love Yasha so much. Remind me of that one day. If I remember on a live stream or something remind me of it, please. And of course, I'm not going to do a video unboxing on this. I did a video for volume one. This is the exact same thing as volume one, which is redundant for me to do an unboxing for it, because all the changes are the art, you know, here's the cover for it. Here's the back. I love this image. This one's really cool. As you can see here, the two Blu-rays, let me show you real quick. You get the booklet. I'll do the unboxing here.  Here are the soundtracks and the Blu-rays themselves the last part of season one. So now I can't wait to watch the movie next year whenever they make it. Hopefully it's a video on demand because I'm interested at all into going into movie theaters anytime soon.  Please do a video on demand. I will support it. I will stream at 20 bucks. I don't care. Just do it. Since I did it recently with made an abyss this year. Do that. Do like a rental weekend or something for like 15 or 20 bucks. People will go and support it.  If you're doing it, don't don't pirate the thing either. Just, you know, support it because we need more regional, regional or locally released anime films. That's what I wanted to say. We need more of that. So that's all the anime I got. But there are a couple more cool things. We related like this thing. This is the Milan Records Cowboy Bebop mixed tape vinyl colored vinyl. So it's not the full soundtrack obviously because it was I think like five or six different CDs back in the day. So this is sort of a greatest hits which I'll take it of the first official North American release for Seatbelts music.  So you can see here the track listing. I'm pretty sure there's been unboxings for this on YouTube. So I'm not going to bother making a separate video. You can see right there. Let me show you one of the disc right here. You can see Faye, one of my favorite anime characters, Spike. And it's in color, beautiful color. Oh, it's at the top. My dad. Look at that. That is really cool. It looks different on camera but you can sort of see the color right there looking looking pretty sly sly. So I got that. And comic book wise, I did get a few things. Here is TMNT, the IDW collection volume 11 right there with Casey looking pretty cool. And this whole bunch, it's heavy. This was part of an Amazon buy three get one free. These, I'm going to show you the two that I got. The free one was actually the Pokemon Box set, which I forgot to mention. I got Street Fighters versus Dark Stalkers hardcover edition. I think it was on sale. This was for a $50 book. I think it was $30 or something like that, which is why I went with it. And the other part of the deal, I got the Super Mario Bros Encyclopedia official guide from Dark Horse. I have the Hyrule Historia from Zelda. So I wanted to get this to match. One day I'm hopeful we'll get the Metroid one. Metroid being my favorite Nintendo franchise. And last but not least, this was supposed to be out or it was out. I didn't get it. I had it preordered. But all the direct market websites went out of stock. It is the Street Fighter Swimsuit Special Collection Edition right here from Udon. And I've had this in Limbo since July. I canceled the order and the only website that still had it was Big Bat Toys or if you if you want to believe that and Sideshow.  So I went ahead and used it on this just paid for shipping and got it. So yeah, obviously, super sexy edition right there. You get some really cool extras. There we go. And a whole bunch of pinups that I'm going to try and show right there. There are a lot of them in there.  So that is that when it comes to books. There's one more thing right here. Video games. With the whole glucose test that I mentioned way earlier in this video, I thought screw it. Let's get fit in some shape or form.  I haven't gotten around to using this yet. But I will. Part of my resolution for next year, I guess. Here we have Ring Fit Adventure for Switch. I had to buy it used because you can't find them anywhere, right? So everything's in there. All works great. And last but not least, I have a second channel called Geo's Arcade, if you don't know about it, where basically it's all about video game discussions and unboxings and all that stuff and eventually gaming streams on there. If I ever get a chance to fix up the internet, I will go into Twitch and all that stuff. That is that is the idea. That's what I want to do. And I get more about it into detail at a later point in time. If you see me live on this channel, whenever that may be, let me know. Ask me about it and I'll go more into detail. I made a video there unboxing this bad boy. This is a Kuna of rice and field. Divine Edition from X-seed. Fantastic. I love this game. It's so pretty. So I got that. Actually, it's pretty funny. Nausica, the bebop vinyl and this were the last things my old man saw while he was with me. Like I told you guys, I would show him everything. And I didn't show him everything, but this in particular, he thought it was really cool and really pretty. Same with the vinyl and the Nausica. So yeah, that's the update. That's the haul video. Thank you so much, everybody that's left wonderful, beautiful comments. You guys are amazing and beautiful people and I am very grateful that I get to know such wonderful subscribers and hopefully the channel can keep growing and I want it to grow. I'm going to work hard at it next year. December 2020, I don't think I'm going to do anything for it. I'm probably going to do one more video because I do want to make the top anime of 2020 video. Maybe on the last week of the year, that's something that I'm already working on it. So yeah, I am going to be pushing forward with that. The reviews I had scheduled up, I'm going to post them eventually. January maybe. The Tokyo Ghoul and Sailor Moon reviews. Those are coming. I do apologize for taking so long with them and that's about it. I ain't got nothing else. Thank you everybody for liking, commenting, subscribing. If you want to help the channel grow, do me a favor. Hit that like button. If you're new here, subscribe. Please consider subscribing. I do content like this where I go over anime, manga, and the occasional comic books. That might change in the future. But regardless, thank you so much for supporting this. Share the video if you liked it and yeah, follow me on social media. There's a merch store down below if you want to help me out and get your official We Can Geek them shirt. I will be eternally grateful for that as well. So I've rambled on too long. Thank you everybody. God bless. I love every single one of you. Stay safe and I will catch you on the next video, whenever that may be.


TfNN headline news update Tom O'Brien from TfNN headquarters in St. Petersburg, Florida 10 a.m. Eastern time on Thursday 30 minutes into the trading day and we have quite a start to the markets right now Dow Jones up 45 points trading at 26,202 S&Ps currently positive by 3 trading at 2891 Nasdaq negative by 8 points trading at 79 55 and the Russell basically flat trading at 1582 checking in on the VIX volatility index this morning as we start off trading pulling back to a 1321 as we open the market in somewhat positive territory up there above 1335 briefly jumping over to the futures markets will start it off with the Dow so we reach a high and pretty tame night overnight pretty much back in things up to the close yesterday we're basically sitting right where we were at we had CPI data at 830 this morning there's a little bit of volatility but even nonetheless you can see not too much happening 26,198 in the Dow currently Nasdaq 100 Nasdaq the only major index currently in the red and you see a bit of a sell off there the Nasdaq opening bell Nasdaq trading at 76 47 we had been as high as 76 53 right at about 7 a.m. Eastern time we pull back 76 18 currently in the Nasdaq 100 crude oil bouncing around a bit we got to a high yesterday of about 64 7 64 67 early this morning we spike lower to 63 83 now back above $64 looking at May crude trading at 64 23 and gold pulling back pretty sharply yesterday in the afternoon we make it to a high of $13 1314 in gold just trading under that $1300 price point to 1298 right at around 9 a.m. Eastern time back above 1300 you got gold trading at 130185 and checking in on some currency action euro US dollar right now trading at we'll pull it up 1270 bouncing around a bit we got the 10 year down bit we got rates 2.5% in the pound getting pushed back to October and I say October getting pushed back Brexit seems like they got six months to see what happens we will find out stay tuned folks come back right now with Tom we get natural gas numbers at 1030 and of course we got a man Kevin Higgs Tom White and the team at TD Ameritrade fast market at 11 Basil Chapman Steve Rhodes Dave White Tom O'Brien all this afternoon stay tuned folks have a great Thursday.


Bill Radinal Joseph Malloy, Deputy Assistant Secretary for Budget, delivered a brief on the fiscal year 2014 budget at the Pentagon April 10th. He addressed some concerns that will affect sailors and marines in the future upon approval of the budget. The biggest production is in infrastructure. We're doing some RM projects but we're doing no demolition and it's a small number of RM projects, restoration and modernization. We also have recruiting and training and other commands. So it's a smattering across the board, slowing down but we are able to do the preponderance of our operations. This reduction could mean buildings such as barracks in need of major repair or complete overhaul will remain in place until infrastructure budget constraints are lifted. Malloy assured the audience that manning and pay will remain the same. From the Defense Media Activity, I'm Petty Officer Andrew Johnson.


This video will show you how to delete problems from an existing WebWorkset. For example, suppose HomeWorkset 3 was supposed to contain three problems about linear functions, but the third question was accidentally made up about differential equations, so we would like to delete that problem. Go to the HomeWorkset's editor in the left sidebar, and next to HomeWorkset 3, click the link under Edit Problems. Scroll down to the list of problems and find the number of the problem you'd like to delete. If you can't remember which problem you wanted to delete, you can view each problem by clicking Try it. This will open up the problem in a separate window. Problem 3 is the one we want to delete, so go back to the editor window and just click Delete it. Then scroll down and click Save Changes. The updated HomeWorkset 3 no longer has that unwanted problem on it. If you delete a problem from a homework set that is currently open, the points and attempts will be automatically removed from the student's records. Thanks for watching.


I am f***ing happy. Why? Not because everything's amazing, not because my life is perfect, not because the world is perfect. I am happy because I choose to be happy. If you are not happy, it is because you are choosing not to be happy. Because happiness or unhappiness comes from what you are focusing on. It comes from your thoughts.  If I am sad, it's because of what I'm thinking. If I am happy, it's because of what I'm thinking.   If you're happy with your life, maybe you should keep that thinking and keep on that path. If you're trying to change the way that the world is around you, maybe what you should do first is try to change what you think about the world around you. I'm happy because I choose to be happy and I work at it every freaking day. You can be happy, but you have to work at it every freaking day. And some people say, oh, but that's just positive thinking.  No, no, no, I'm not ignoring the negative. I understand the negative exists, but I'm choosing to focus on the positive. Because if I choose to focus on the positive, I feel like I grow and I become better. And the better that I am, the better that I can serve the world to change this negative. So choose to be happy because it's your choice. Choose to be happy because it is your choice.


Hey, welcome back everybody. Jeff Frick here with theCUBE. We're in downtown San Francisco at the RSA Conference. 40,000 people, the place is packed. North, south, east, west. I've never seen so many people at Moscone since Oracle Opal World. But they're all here helping us keep us safe and we're excited for it. We're all rooting for the good guys. We're excited for our next guest, couple Reina, he's the VP product marketing for Hightrust. Couple, welcome. Hi, thank you, thank you very much. So for people that aren't familiar with Hightrust, give us kind of the quick overview. Hightrust, we're a company that provides security and compliance solutions for multi workload cloud environments. And what that means is companies that have, say infrastructure in one data center or two data centers of their own, different geographies, maybe they've moved to the cloud, AWS, Microsoft, et cetera. And what we do is we make it easier for them to provide security, which means protection against data breaches or insider threats and compliance, being able to prove to an auditor or to their customers that their infrastructure, no matter where it lives, is secure. Right, so the cloud world is interesting, right? AWS obviously showed that public cloud is good, enterprises are happy to adopt a public cloud. Salesforce showed that a cloud based application SaaS service also works for the enterprise, but then you still have old data centers, you have private data centers and you have hybrid data centers. And then oh, by the way, a lot of times workloads move between the two. So it's a complicated enough world before you even add over the security layer. Yeah, that's a great point. It's really fascinating. When you look back, you would have never thought that the general tenants of your data center infrastructure would ever be up for discussion. It is now. What you're seeing is that a CIOs are struggling with is, okay, which cloud provider do I choose, right? Amazon Web Services, great for certain things, but there's also a drawback. Then you have IBM Cloud, you have Google stepping into the game. You have a number of these vendors overlay on top of that the geographical concerns. So for example, you GDPR in Europe, right? And even in the US you have things like HIPAA and other things that are keep changing. So one is you have the players change on the infrastructure side. You have the regulatory compliance changing on a potentially per country or per region basis. And you have to keep all that secure and compliant while your own admins don't always know necessarily what they're doing because you went from compute storage and now network virtualization. Everything is an object and everyone can touch anything at any time. But as a CIO or the CISO, you're still responsible for all of that. And then you've got all these APIs.  You got DevOps, so you're actually pushing out new code many, many times a day and everybody's working off their iPhone or working out of their home home, which was part of the topic of the keynote today. Now you have this whole new thread surface called your house, which increasingly has more connected devices and you're probably working on your laptop on the kitchen table now and then. Yeah, you know, high trust. It's interesting. We have been around for eight plus years developing expertise in the security space, compliance and infrastructure. And we've seen from, we have some very big federal government customers, some of the biggest banks, retail, healthcare organizations in the world. What we've learned from our customers is that yes, there is hope, right? I'm glad, you're like the first optimist we've had on the show. There is hope. There is definitely hope. Okay, good. So where the hope comes in is not tying your security and compliance needs to your infrastructure. Otherwise, once you change infrastructure, you have to relearn all those tools, all those skills. Could be different people you have to bring and that itself is an issue. If you can, so if you will, separate your security and compliance needs from your infrastructure. In other words, wherever your workload goes, you pick your public cloud, you pick your private cloud, if you can secure it, if you can prove compliance, you're in good shape. And that's what really Hotress is bringing to the table is saying, as a customer, you know already what your security policy is. Don't do bad stuff, do good stuff, follow the rules. But it gets complicated when you change workloads, change environments, and change people. Right. And so we simplify a lot of that. So yes, there is hope. And you keep saying security and compliance together. Yes. Those are two very different challenges that are related, but not the same. So how do people prioritize? What sometimes maybe falls off the table or doesn't get the attention of that as shit? Or does one really drive the other? So what's interesting is if you look at over time for enterprise organizations, the number of individuals and number of departments involved in a particular purchase decision has increased. Why? Because the consolidation of infrastructure, virtualization, for example, has now forced security, compliance, and infrastructure all to work together. They have to come together to decide how to do a certain deployment, how to do a certain set of policy changes. And so the reason I say that is because they actually have to work together. It's no longer the days where security goes in the corner, chooses some five products, they're happy, compliance sets up, set of rules are happy, they all have to work together now. Right. And so in large part, that coming together is happening now. So there is some initial pain point, but the other end of that is you'll have a much more streamlined compliance process. Everyone will know what they're supposed to do. There's not this, oh, I got another audit coming. They won't be spending so much money on it. And on the security side, you've actually reduced your attack surface by not relying on specific point solutions. You're creating a single policy that gets implemented regardless of the infrastructure. Right. And then you get to see it across GEOs, across data centers, across, so it's an interesting kind of point of view where we've got kind of this state-sponsored stuff going on, but it's the companies that operate in many countries that in some ways have maybe better visibility into the variety of different types of threats. Yeah. And what's interesting is you can look at two levels. One, there's obviously a policy level. Right. A lot of large customers say, look, what can I, even if I'm one of the, we have some of the largest retailers in the world, largest banks in the world, what can I even as the CEO of these large companies do for a state-sponsored attack? And then you have sort of the technology approach, which is, well, I got to do something, right? Target and all these breaches have showed that regardless of how it happens, you're still responsible at any day for your customer's safety. And what our response to that is, look, you can influence policy to a degree, and you should, right? From a technology point of view, be independent of your provider and suppliers. Be able to say, I have a security policy, I have compliance needs, but if I need to, I will switch infrastructure to ensure that both my business runs and my customers are safe. Right. And that ability, that agility, is now only now becoming sort of more mainstream and people are asking for it. But it's interesting, one of the topics in the keynote today was, you know, you don't need to employ every single person that's got a booth on the floor. I mean, at some point in time, there's some rationalization on, you know, who are the partners that you choose to go to war with in this fight.  Well, you know, I'll layer in one little more complexity. If you're the CIO, this here, this show is one fraction of what you're worried about, which is security. Right, right, right. It doesn't even get your kudos. You just don't screw it up, right? But you're worried about your business. How do I expand in other markets? How do I open up another branch? How do I do it quickly? Right? So, from that point of view, I think what you'll see here is a lot of consolidation. And the consolidation will happen not just because you have the best technology, but because the company provides, the vendor provides to the CIO, both in understanding how do these pieces fit together? Even if you're a company in the stack, can you explain to the customer where you fit in the stack and make their life easier? Right. Because if they're already saying, hey, I'm thinking agility like DevOps, you already have to be thinking about how you fit into their environment, not the other way around. All right. All right, couple, I'll give you the last word. What are your priorities for 2017? If we meet again here a year from today, what are we going to be talking about that 2017 was all about? Sure, absolutely. So, high trust main mission really is to simplify this idea of multi-cloud workload security compliance. And so, our focus in 2017 is to expand that ability across all the public and private clouds and make it much easier. And then from a company point of view, we're heavily involved with various organizations to communicate that knowledge out, to share the learnings that we have out to all of you out there, whether you're at the C level, the director level, or even if you're a practitioner, we're here for you. All right, well, nice summary. Thanks for stopping by. Thank you. All right, he's couple. I'm Jeff. You're watching theCUBE from RSA 2017 in downtown San Francisco. Thanks for watching.