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Current Must Haves:

  • Support input/output by PPM, MAVlink

  • Object-oriented (class)

  • run in a FreeRTOS thread

  • Proper flow of function calls

  • RC control to the drone

  • fly the drone

  • Using TM to pass waypoints to Pixhawk to achieve autonomous control

Future Expansion:

  • Support SBUS

Not in scope:

  • No managment to AM or PM. Everything will instead be accomplished by PX4

  • No video Transmitting

🫠 High-Level Flowchart

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  • This is the rough idea of how it is gonna work

  • In brief, the system has too running mode. The manual mode and auto mode.

  • The mode the system is currently running depends on the PPM instruction we fetched first.

  • If the PPM tells the drone is in manual mode, then only the manual PPM instruction is sent to PX4

  • If the PPM tells the drone is in auto mode, then try to fetch the auto command from RFD

  • Fetch failure will cause the system to transition to manual mode

  • If fetch success, the ZP3 will send the auto command to PX4 to process. PX4 will send the telemetry data back to ZP3. ZP3 then processes it with PM and sends it to RFD.

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