Page Comparison

https://lettucemeet.com/l/DZdno

CV Requirements (jetson)

Communication space: ZP master and Jetson slave (ZP initiates all communication and Jetson responds)

• Position Data (GPS/IMU → SF Struct)

• Request for movement command (System Manager)

PM Requirements

• Waypoints (SM)

• InitiateLanding Bool (Jetson)

AM → PM Struct:

typedef struct CommandsFromAM{
    bool armed;  
} CommandsFromAM;

...

Jetson → PM Struct:

(or is this AM)

relative to drone (drone-centered)

maximum size of x,y, z: 150 meters positive or negative, accurate to cm

max size of heading: 360 accurate to degree

struct JetsonToZpMovementCommand {
  float x;
  float y;
  float z;
  float heading;
}

...

System Manager Data Structs and Flow

• Software ARM/DISARM (GSPC)

• FlightMode Request (GSPC)

• PID Values (TMGSPC)

• WayPoints (TM(GSPC)

• Jetson → PM Struct (Jetson)

AM Requirements

• PID Values (SM)

Ground Station Requirements

• Motor Outputs (SM)

• Sensors

  • sensor fusion output [look at sf_pos interface in LOS]

  • All of them (SM)

  • GPS

  • IMU

  • airspeed

  • rate of climb

  • ALTITUDE

  • airspeed sensor information

• Battery Voltages (SM)

• Controller Values (SM)

• Attitude (Sensor Fusion or SM)