Page Comparison

M1 Drivers Ethan Leung

• Message Queue Dami Peng

  • Review the interfaceHeader done

  • Starting the implementation

• Motor Channel (PWM) Bill Lu

  • Motor driver is probably working but we need to validate once he gets a Windows laptopMet issue when trying to control the servo

  • Mostly there

• RC Receiver Chandise Anderson

  • Currently working on RC driver

  • Implemented the conversion from SBUS to RC data

  • Implemented parsing the raw SBUS data

  • Currently working on the DMA aspect of the driverFinished code, going to submit PR

• Watchdog Ronald You

  • Driver was complete

  • Realized the driver is unnecessary and for simplicity can be implemented in the ioc

  • An abstraction layer is still needed for mock tests

  • IOC is updated, need to update the abstraction

  • More or less done, interface to kick the watchdog without hardware dependenciesNew abstraction done. PR pending approval.

• SD Card Ari Van Cruyningen

  • Preliminarily working

  • Waiting to get DMA working with Submitted PR, just need to test it

M2/3/4 Drivers

• RFD900 Aditya Bang

  • Trying to make two RFD900s communicate

  • RFD900 tools software not workyConfigured and connected, having trouble sending messages

• IMU + AHRS Liam Suter Kelvin Feng Richard Dong

  • Calibrating of BMX160 going well

    • Sensible readings on gyro and accelerometer

  • Ready to start coding for the STM board

  • Researching best sensor fusion alg to use (will prooobably try Kalman first as it’s simple)Accelerometer looks fine

  • Gyroscope oscillating, might have been causing getting yaw data

  • Trying to mitigate oscillation

  • Then working on implementing filter

• GPS Ria Prakash Ronak Patel

  • Been reading through the data sheetReady to start implementing

  • The output given by the module looks good

  • Will be implementing later this week

• CRSF Uzayr Hussaini

  • Check on progress, might move to another task as we might not use CRSF driver

Attitude Manager Ayoung Eun

• 1-to-1 Motor Output Ayoung Eun

  • Made tweaks based on your comments left on Ayush’s commit. However, I do have some questions.

• Failsafe Raiyan Samin

  • Waiting on PR to be done

• Arm / Disarm Raiyan Samin

  • Waiting on PR to be done

System Manager Manasva Katyal

• RC Passthrough Sreya Roy Chowdhury

  • Pretty much done

  • Arm signal now passed directly to AM will update code

  • Then will merge PRTook a look, open to continue though the PR, comments to be reviewed

  • Changing to push to AM queue instead of SM queue

• Kick Watchdog Sreya Roy Chowdhury

  • Waiting on PRTo be done but easy

Infrastructure Thuvaragan Prathifkumar

• just assignedMeeting with Derek today

ZP Board Validation Ari Van Cruyningen

• Started communicating with the ZP board

• IO and PWM timer pins done

• SPI, UART, I2C next

• Putting together a validation image

LED Board Nick ArmstrongTochi Okoro Billy Karantzoulis

Gotta go through Anni’s list of things for LED Board and turn into actionable items with priority (EFS Leads)

• Worked on implementing the central node election algorithm

• Billy joined the team and is taking a look at writing Ardupilot-side scripts in Lua to generate CAN messages with info like altitude, speed, etc

• Tochi and I are still looking into what she wants to work on

Servo Hardy Yu Allan Su Ethan Leung

• Onboarded both Allan and Ethan on this project

• Not much has been done so far, we are a little blocked by the hardware

  • single servo drive pcbs are missing 😞 plz let us know if anyone has seen it

  • 6s servo module rev2 is currently undergoing its assembly

  • maybe we could use 6s servo module rev1 for now or just focus on the software

6s Power Module Bryan MaAditya Sharma Andrew Wang

• Small edits made in 6S Power Module has been updated

  • Clarifies what Pixhawk 4 and Ardupilot are

  • Explains Polling, Interrupt, and DMA

  https://github.com/UWARG/efs-can-power-module now has a first commit at ioc_setup

• The IOC setup is now set up with port modes (analog input, digital input, etc.)

Next step: start working on driver and get readings from sensor

• Link to project repo now on doc

• Link to Battery Monitoring Circuit datasheet added

• Link to EE Altium design added (for those with access to it)

• Tried to flash an empty program (for the 2^nd time) onto the 6S Power Module Hardware, but without success

  • STM32CubeIDE could not detect any targets

  • Suspecting debug cable might be cut open while the connector was being shaved

  • This was working during the 1^st time when no connectors were shaved

Baud Rate Auto Sensing Teighan Miller

• Pretty good idea on how to go about baud rate sensing, need to talk with Leads to figure out how to integrate with what we haveCode to test and detect common Baud Rates is written.

• Next steps are to test the code on a board to see if it's working properly.

• Working on learning how the CAN Bus connects to the Nucleo Board

Sensor Cluster

• Barometer

  • On pause until EE gets board

• IMU

  • Paused until ZP driver

• Lidar Aidan Fisher

  Working on driver

• Magnetometer Henry Wu

  • tested integration with CAN

  • rx working with CAN

  • tx signal on logic analyzer, but nack sometimesgetting CAN transaction to and from ArduPilot

  • code refactoring and pushing code to Github

  • turning magnetometer in ArduPilot (Magfit?)

• PixArt OFS

  • Paused until EE board

• Radar Henry Wu

  • driver doesn’t look too difficult to setup

  • look at example code

Tracking Antenna Larry Pan (Jackie Yi)

• We were trying to parse the bytes that were dumped from last semester, but pymavlink is not parsing properly.

• Probably because the bytes were in decimal and not hex

• Just got hex data from simulation, will work to get hex from the drone soon.

Drone Tuning (+1-2) (IMU peeps taking a look)

• Learn to configure ArduPilot controls, and stabilize competition drone

• Good introduction to controls

  • Configure noise filters for sensors

  • Tune PIDs

  • Observe flight tests and make adjustments

• Excellent opportunity if you want to go to competition