...
Detect Pylon
Geolocate Pylon
Send Pylon coordinates to ground station
Task: Module - Task | Blocking Aspects | Remaining subtasks | Target Completion | ||||||
|---|---|---|---|---|---|---|---|---|---|
Command - Send Turn Instruction | Command Module Completion | Author instructions for command module | March 13th | ||||||
Task: Module - Task | Blocking Aspects | Remaining subtasks | Target Completion | Responsible | Status | ||||
Geolocation - Input Conversion | Measurement of camera FOV, Measurement of GPS position | Design approach to problem, measure camera FOV, implement functions | March 20thApril 6th | Andrew and Kevin | Complete | ||||
Geolocation - Statistical Analysis → Use weighted mean approach. | None | Get weights (probability of selection) from YOLO model then take weighted average | March 13th | Target Acquisition - Model Training and Saving | Collecting training data, getting decklink setup and working | Get lightbridge running, get GoPro running, setup gopro → lightbridge, lightbridge → decklink and decklink → opencv | March 13th April 6th | Addesh | Complete |
Geolocation - Collinear Points | Review | April 8th | Aryan | In Review | |||||
Geolocation - Get Spread logic | Mock function | April 13th | Shrinjay | In Progress | |||||
Geolocation - Run Function | Setup run function + tests | April 13th | Shrinjay | In Progress | |||||
Command Module - Configure for telemetry use | Review of by Shrinjay and merging command module | Define data source and output for command module, implement | March 13th |
Search Program:
Calculate angle to pylon
Steer to pylon
Shrinjay | Complete | ||||
Geolocation - Top Box Selection | See line 89 in utils.py, adjust this to only return top box | April 22 | Andrew | In Progress |
Taxi Program:
Approach Pylon
Identify boxes left to right
Scan QR code, detect correct or incorrect box
Traverse boxes to select correct box
Task: Module - Task | Blocking Aspects | Remaining subtasks | Target Completion | Responsible | Status | |
|---|---|---|---|---|---|---|
Target Acquisition - Box Model verification and deployment | None | Move model to tensorflow Train model and save as h5 file | March 27thDone. | April 6th | Shrinjay for Review | Awaiting Integration |
Distance Measurement | Camera intrinsics data , sync up on others | Pending status update | March 27thApril 13th | Atharva | In Progress | |
QR Scanning | Camera setup, Correct QR Code | Identify library, identify how we get the correct QR code, implement library with stream from camera | March 27th | |||
Box Traversal | TBD | TBD | TBD - On hold |
Deployment and Testing:
Deployment Requirements
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Vision → GoPro, Lightbridge, DeckLink, GStreamer
...
Communication → PIGO communication through command module
, switch behaviour | April 6th | In Review |
Systems:
Processing → Connecting models into programs, finishing threadingOperation → Running computer vision program on ground station
Requirement | Blocking Aspects | Remaining Subtasks | Completed Subtasks | ||||||
|---|---|---|---|---|---|---|---|---|---|
Vision | GoPro and Lightbridge Posession | Set up GoPro and Lightbridge. Connect Lightbridge to DeckLink. Confirm video flow from GoPro → Lightbridge → DeckLink → GStreamer. | Set up computer. Set up DeckLink. | ||||||
Communication | Command Module verification and merge | Wrap up command module. Confirm command module on firmware end is complete. System test communication. | Command module draft. | ||||||
Processing | Command Module merge, Geolocation Module completion, Shrinjay’s threading PR (Yes I’m calling myself out) | Add pipelines between main and geolocation Date | Responsible | ||||||
Processing | Distance Module | Add pipeline between main and command module. Add pipeline between main and command distance module. Define and implement flight, search and taxi programs. | Module completion. Threading draft. | Operation | Completion of entire computer vision system | Install and deploy system. | None. | April 13th | Shrinjay |
Command - Add error handling to avoid insta-crash | None. | Design error handling system and implement. | April 6th | Andrew |
Notes:
Try Catch blocks are very expensive