Page Comparison

Pathing

Jane Zeng

• Circle mode done yet?will be speedrunning now

• Waypoint circles?

  • PR is up, waiting for local_global_conversion to move to common

• KML generation script - on ground

Airside

Ashish Agrahari

• Cluster estimation progress

  • Almost done

• Geolocation/cluster estimation output to KML module and worker: call it KML processing worker?

  • Also needs to be able to send data to ground through mavlink (can we send custom messages in mavlink?)

  • The ground will then run a script to parse the GPS coords and build KML file

Tasks:

• Achita Anantachina Classical CV method tests

  • R D to look into issue

• Shahvir Wahab Research ROS with ardupilot

  • Done

  • Testing - simulation of drone inputs (camera, GPS, etc.) VS SITL?

  • Tools? how they benefit CV/ML inferencing

    • either develop faster or runs faster

• Shahvir Wahab Testing ROS with ardupilot

  • Will start soon

• Victor Terme Auto landing module

  • Needs to talk to someone about the task

  • He will talk to Tong Zhang later

• Andrew Xu Logging for all workers

  • Working on logs

  • In progress

• Siddh Patel Create log merging script

  Waiting for PR approval

  • Merged

• Rudimentary geolocation progress?

ML

Vibhinn Gautam

• Order the pi ML accelerator: https://www.raspberrypi.com/documentation/accessories/ai-kit.html No notes as of now.

IMACS

Balaji Leninrajan

• PRs for

  • Create widget to execute terminal scripts

  • Implement UI to change address and port (reviewed)

  • Create RTL (also reviewed and updated)

  New tasks related to SITL setup soon

• Merged

  • Create navbar

• All other tasks in progress

Obstacle Avoidance

Vyomm Khanna

• Implementation of VFH algorithm for obstacle avoidance coming along well.

• Updated algorithm to process LiDAR readings as a continuous stream instead of a file, display polar histogram after each oscillation (forward and backward)

• Updated algorithm to output path deflection angle (temporary waypoint direction) based on appropriate candidate valley identified.

• Wrapping up unit tests, and tweaking formula based on results.

• Scheduled to work on adding temp waypoints after thisCreated a DroneKit script for an auto mission that switches from auto to guided mode and then back to auto mode, simulated on mp (works well, allows for intermediate waypoints ie. the output of path deflection algorithm). Aborted flight-test midway due to safety.

  • Guided mode controls is ready

• Wrapping up decision module for vfh

• completed unit tests for lidar_parser, finishing vfh and decision module unit tests. working on integration tests next week.

IR Camera + detection

• Somebody needs to test the Rpi camera + IR filter (in the autonomy drawer, a little silver square) during reading week. Please look for EE members for help to turn on IR emitter

• Someone research noise reduction in taking pictures/videos in low light environment (since our filter blocks a lot of visible light)

• Now that the IR filters have arrived, we should label them unless there’s a discernible difference between both models (or if both models havent arrived)

• Will need to assign tasks related to developing a cv model soon (like over reading week and in the next meeting)IR camera has arrived and it works quite well.

  • The infrared emitter looks like a giant white/bright spot

  • Detection of bright/white spots is needed

  • We will be gathering a lot of data hopefully. Ideally we schedule a couple more flight tests for this purpose. # of images needed - target 1100 for now?

  • We will use classical CV for the model (thru openCV). Flight test on Saturday (and resulting images) will help determine which technique to implement.