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Notes

Pathing

Balaji Leninrajan Evan Zhao

  • Pathing sync happened last Sunday (2025-01-26 Pathing Sync )

    • Updating common version used in pathing

    • Refactor to remove dronkit and replace with common mavlink

    • Test both to make sure that there are no breaking changes

    • Future tasks will be added after the updates

    • If members are interested in helping with the migration to the latest version of common ping Balaji Leninrajan in https://discord.com/channels/776618956638388305/1022868375178854410 to work out details

      • Can be handled by PMs but might be a good chance for new members to learn about the system if there is enough bandwidth for non comp tasks

  • Integration with Obstacle Avoidance later?

    • Will discuss with leads and Vyomm Khanna

    • Might have to wait till end of Feb to free up time to push for comp related stuff

  • Honzik Schenk and Evan Zhao have PRs up for their tasks

Airside

Achita Anantachina Herman Gahra

  • Tochi Okoro Autonomous landing module

    • PR up, still working through it

  • Aleksa Misic Cluster estimation labels

    • PR up, close to working

    • Debugging - not passing tests

  • Herman Gahra Using message_encode_decode to send MAVlink messages to flight controller

    • PR up, close to finishing

IMACS

Vibhinn Gautam

  • Working on reviewing PRs from last term - should be done within a week.
    - Seems like RTL button has been merged.
    - UI to change ports/connection also seems nearly complete.

  • I see some tasks on Asana are labeled as ‘in progress’ - who is working on them?

  • Will start assigning tasks from next week onwards as it seems like a lot of tasks are waiting on other subtasks.

Obstacle Avoidance

Vyomm Khanna

  • Spent this week scoping out plans for getting Obstacle Avoidance up correctly, asap.

  • Working to merge a few final PRs that I worked on last term that are almost approved, but still treading carefully due to the big common refactor that affected a lot of Odometry structs in the OA Repo (relatively high coupling) (adding next_wp data also required us to move stuff around in OA’s flight interface and create a new class). Will schedule a meeting with Andrew Shum at the earliest to finalise

  • Documentation for OA will be up by the weekend. Plan is to outline the current approach we’re using (vfh), how we achieve it using the 2D LiDAR, and the data pipelines in place to convert individual LidarDetection Objects into PolarObstacleDensity objects (I liked the airside diagram n will prob include something like that too).

  • Will be ready to schedule a flight test as of next week, when changes merged (have to handle this myself).

    • A cool task would be to have a regularly updating polar visualisation of the Drone’s 2D FOV constantly being transmitted to the ground station while drone flying autonomously (with safe sectors marked green, cluttered with red). Should be ready to assign tasks by next meeting

    IR Camera + detection

    • Arducam testing?

    ML

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