https://lettucemeet.com/l/DZdno
CV Requirements (jetson)
Communication space: ZP master and Jetson slave (-Jetson communication is over UART. ZP initiates all communication and Jetson responds )if required. Jetson does not initiate communication.
Jetson receives:
Position Data (GPS/IMU → SF Struct): Contains location + height and orientation.
Request for relative movement command (System Manager).
Jetson transmits:
Movement command.
Landing initiation command.
PM Requirements
Waypoints (SM)
InitiateLanding Bool (Jetson)
...
relative to drone (drone-centered)
Directions: Bow/stern, port/starboard, ventral/dorsal.
maximum size of x,y, z: 150 meters positive or negative, accurate to cm
...
Software ARM/DISARM (GSPC)
FlightMode Request PID Values (GSPC)PID Values
WayPoints (GSPC)WayPoints
FlightMode Request (GSPC)
Jetson → PM Struct (Jetson)
AM Requirements
PID Values (SM)
unknown number of controllers
For each controller 6 sets of P I and D values
Send them up one controller at a time
Ground Station Requirements
Motor Outputs (SM)
PID Controllers and Values
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)