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Principle Engineer

Hardy Yu

Forced to ReviewReviewers

Anthony LuoAaditya Chaudhary Ayoung Eun Aidan Bowers (Deactivated) Christopher Chung

Objective

Simple manager that coordinates the competition flight system

Due date

Key outcomes

Design and implement an object-oriented system running in a linear loop that can communicate with the ground station, tower, and Pixhawk to make a drone fly

Status

Status
colourGreen
titleDESIGN

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  • With the complicated competition flight system, we need high-level software to aid us in the coordination of different sub-systems. The flight system EFS came out last year has a fantastic and delicate architecture, but it also takes way longer time than we expected to accomplish. We want to have a high-level system with simpler logic that can fly a drone with the aid of Pixhawk as the backup plan for competition.

🌐 Scope

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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

  • Mavlink to ground station

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 two running modemodes. 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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