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changes.mady.by.user Dhruv Upadhyay

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Table of Contents
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maxLevel7

Controls Research

  • Controls:

    • Anni + ??

  • Attitude Manager ??

Roadmap Planner
maplinks
timelinetrue
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titleRoadmap%20Planner
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Specifications

  • Target 1: Stable flight in all directions

  • Target 2: Fancy flight in all directions

  • How are we localizing - how does PM know to tell us which way to go!?

    • do we operate under one local heading as 0 and PM handles the rest of the spinny localization?

    • local or global reference frame? → not high priority (but I think local is easier?)

Timeline

  • development start by reading week.

  • Wednesday reading week → discuss how to approach this in terms of implementation

  • Manual controls with RAW PWM values can be done by E.O. reading week.

  • Implementing fancier methods later.

Meetings

October 7, 2021

  • Send E-mail to Stephen Smith Friday Oct 8th 2021 → end of day. (or early saturday).

    • come up with some ideas to send to him about controls

    • hopefully get guidance wrt our specific requirements → help us choose methods?!

  • Sending info to the drone as a spline (especially for autonomous flight)

  • Focus on two aspects

    • teleop and autonomous. → both get pretty ok with vectors.

    • for autonomous → pm should give us a vector.

    • for tele-op, depending on how we handle it, calculate internally or in PM - also consider that PM is on Autopilot while Teleop and RC input will be on safety (prob best to keep teleop localized completely on safety)

  • PM → tell you where to go | AM → figure out how to get there without crashing

  • Definitely can get manual control done by end of reading week with raw pwm values.

    • fancier flight will have to come later.

October 5, 2021:

  • Start development by the end of reading week.

  • Meet next Thursday 7:30.

    • Come with ideas. Be prepared to prepare documents.

    • Questions and critical areas to ask the experts.

  • Reach out on friday.

  • Take weekend to look over data

  • Try to meet next tuesday.

  • Aim for reading week start

  • Try to make applicable for hexapoterhexa/quadcopter (depending on what’s chosen). Worry about fancier architecturse layout agnostic controls later.