Meeting recording

(I promise I’ll try and unscuff my obs settings it’s just taking a little bit).

🖥 PR’s and Reviews

Pls look at PM PR - https://github.com/UWARG/ZeroPilot-SW-3/pull/25

Yuchen Lin to put in PPM output stuff

Alex Yang to put in PPM output Driver

Stanley Tang to put in MAVLink stuff

Hardy Yu Ayoung Eun to put in NEO M.8 Stuff

Aaditya Chaudhary to put TM stuff (if ready)

Post-Meeting Micro-Arch/Timeline Reviews Today:

• Tracking Antenna (Egor, Rahul, Yuchen)

• ??

• Task Assignments for bootcampers

😅 STUCK!

✈ Priorities & Action Items:

fill out team roster here: https://docs.google.com/forms/d/e/1FAIpQLSfGBfnTPGSR_PkMcl-XrxltoGhgfnDmErNO390fO0g0ecRPwg/viewform
you must complete the training to work onsite. Deadline is Jan 31

← Quick Asana Tour w/Anni →

← Brief Update from Chris on how we should handle handles w/LOS drivers →

← assigning new tasks to bootcampers, end of the EFS meeting if we have time, otherwise right after the CV meeting →

🍍 Updates this week!

(Updates here → see table of contents for structure)

ZeroPilot 3

Jetson-ZP-Ardupilot Integration (Stanley, Alex, Navya, Ayoung)

• needs mavlink messages to be defined

  • have been defined, will be implemented

• Stanley & Alex working on driver in LOS

  • Stanley Mavlink

    • new los_mav interface

  • Alex PPM Output, Controller decoding

• Ayoung to handle in-person testing

  • MAVLink & PPM

• Navya handling decoding & re-encoding of Airside CV commands from Jetson

• Gordon working on RC to PX commands using LOS_Mav

• Alex working on creating PPM interface & output driver w/ control handover logic.

• Stanley working on mavlink driver.

  • Created prototype driver that can send/receive heartbeats between ZP and AP. Needs to be tested.

  • Created test branch on ZP (probably need to move this to the comp repo actually)

    • https://github.com/UWARG/ZeroPilot-SW-3/tree/testing/LOS_Mav

  • Need to add more functions such as setting different flight modes, take off, arm/disarm, etc

• Integration timeline for:

  • testing ppm: as soon as we get the px6 setup

  • testing ppm / ap handoff

  • testing auto takeoff/landing w/mavlink commands: as soon as ppm verified

  • testing groundstation command sequencing & autonomous flight: Feb 11/12, as soon as IMACS verified.

• Mission Commands — Plane documentation (ardupilot.org)

System Manager (Gordon, Stanley)

• Gordon: Pared down code for comp, set up code framework for RC to PX controls

  • Looking for LOS_D_MAV interface documentation (what functions can I use and how)

  • Groundside and Jetson sound not yet ready, so TM ↔︎ SM comms not in yet

Path Manager (Neha, Liang)

• Synced with Liang → will start waypoint following implementation

• Opened PR for PM Landing/Takeoff + comms with SM implementation (Pls review so i can finally have some happiness)

Attitude Manager (Ishman, Armaan)

• needs tuning

• Anni had a quick meeting to let them know of what attitude manager is

• Main task is to get Phoenix tuned

• Deliverables: document on plan to get tuning done.

Doc:https://uwarg-docs.atlassian.net/wiki/spaces/ZP/pages/2174287907/Attitude+Manager+Winter+2023+Plan#%5CuD83D%5CuDDD3-Timeline-(Task-1)

IMPLEMENTATION TALK:

• be aware of battery charging protocol… ask Ayoung for docs

• before jumping into tuning, do motor spinup test, put some really large values, take props off, and see if you get expected behaviour (this is to clear up initial bugs)

Timeline: Feb 18 for probs on testing

Built using docker, but need help building via IDE to be able to use debugger

Telemetry Manager (aadi)

• CV side of RFD driver merged in WARG common, new repo that contains common code… same driver for air and ground side.

• Having sync tomorrow

• LOS_Comms: got interrupts working, need to follow los interface pattern.

  • Plan to finish writing and testing tomorrow

LOS

Interface

• LOS POS (Mostafa)

  • BMX160 working with SF on a thread (needs the other sensors to fully work)

    • Freq set to 800 hz (need to double check on a scope)

  • Began integrating GPS into LOS Pos (Hardy & Ayoung)

• LOS Link

  Configurations need to be re-added.

  • Need’s to support PPM Output Driver from alex?

  • Action item: talk to alex about if we should keep in same interface or separate.

• LOS Actuators

  • PWM did output, since the clock freq changed to 110Mhz it messed up timing.

    • Will add runtime calculations to make sure the timing is correct no matter the configuration (clock freq, prescaler, period)

    Any News on DShot 300?working, just needed to reconfigure timer settings. Code now configures driver member variables during initialization on runtime. Essentially only the cube ide configuration needs to be done manually.

  • Started testing DSHOT, initially doesn’t work. Need to reconfigure timer settings and make sure interrupt are enabled. Will continue testing after the meeting.

• LOS Telem/comms (aadi, yuchen, hailey, alex)

  • Look at Telemetry Manager Update

  Logging?

  DARWIN HA

• LOS_Log + LOS_Storage (Darwin 😞 )

  • Architecture of Log + Storage was sketched out after last tuesday meeting

  • Nothing since then

  • Formalize diagram then starting on coding. End of Feb timeline still appropriate.

Drivers (lets try and get names added soon)

• VN-300 (Tony)

  • Last known thing was that it wasn’t working with L5.

  • Able to try UART to VN to and from ardunio

    next step is to test with L5 nucleo, new project, pure UART stream

    Barebones L5 project able to receiving expected uart messages from VN

  • VN does not seem to be responding to input from L5?

• Neo M.8 (Ayoung, Hardy)

  • Works now! GPS sensor can receive data from sat

  • Can parse data into useable information

  • Compared to google coordinates and the integer part is the same but the decimal is different

  • Faced problem when using the debugger that they went into the hardfault handlerIn the process of integrating into LOS driver… testing/LOS_Pos

• airspeed (Hardy, Ayoung)

  • No update… still waiting on testing

• SD Card (Darwin)

  • LOS_Storage & LOS_Logging Design + Impl.

• Mavlink? ()Tony/Alex)

  • See Zp ardu integration section

• RFD900? (Los Telem/Comms team)

  • See Telemetry manager section

• Jetson? (Los Telem/Comms team)

  • See Telemetry manager section

• Current/Voltage Sense (Aryan)

  • currently setting up ADC driver that can be converted to current and voltage sensorNeeds testing.

• CRSF (Hailey)

  • Making progress on CRSF documentation. Should be done in the next 2-3 days.

Systems Tooling & Infra

Infra + Devops

• Derek Tang

Simulator (SIL) (Mostafa, Alex, Taim, ???)

• reached out to aidan’s prof (hopefully we can get some mentorship)

HIL (Hardware In the Loop) Controller (Yuchen, Mahir)

• scope document: HIL Controller version 0.1.x

• wraping up the code and start testing

• Will finish before feb 4th

• discussing with sahil about the impl

• Not in the call due to a call with sahil

Tracking Antenna (

Rahul, Egor, Yuchen)

• Microarchitecture Doc mostly complete

🎡List of Open Tasks

In no particular order, most of these on asana:

• HereFlow CAN Based optical flow sensor

• Bidir DShot

• USB Logging

• LOS Link with CRSF SBUS

• Add IOC configuration on Main ZP

• LOS_LOG

• Peripheral distrib. For L5 & ZP3 COMP spec.

• MPU 6050 Support

• Old Analog Airspeed Sensor Support

• US100 Rangefinder Support.

• Lidar rangefinder support (unspecced as of now)

• Instrument Based Vision Denied Landing

• Vision Based Auto-Land

• Gimbal Stabilization Software

• Phased array beamforming antennas (please don’t do this unless you’re really really sure of what you’re doing and can prove it in matlab & simulation & are capable of fronting some $)

• LOS_Xbee driver

• Custom ELRS receiver

• Custom HD0 receivers

• Firmware for BLDC motor controller

• Battery/flight time estimator (again, don’t take this unless you really know what you’re doing).

• Obstacle avoidance?