Page Comparison

https://lettucemeet.com/l/DZdno

CV Requirements (jetson)

ZP-Jetson communication is over UART. ZP initiates the following communication and Jetson responds if required.

Jetson receives:

• Position Data (GPS/IMU → SF Struct): Contains location + height and orientation. No need for faster than 10 Hz.

• Request for relative movement command (System Manager).

Jetson sends:

• Movement command.

• Landing initiation command.

Jetson initiates and sends the following:

• High-priority live messages (e.g. failure state such as process dying and not being able to be restarted).

  • Low-bandwidth/small-size - We have limited communication resources!

PM Requirements

• Waypoints (SM)

• InitiateLanding Bool (Jetson)

AM → PM Struct:

typedef struct CommandsFromAM{
    bool armed;  
} CommandsFromAM;

...

struct TelemWaypointData {    
  double longitude;  //    
  double lattiude;   
  uint8_t waypoint_id; 
};

typedef struct CommandsFromTM{
    bool start_landing;
    uint8_t num_waypoints; // number of waypoints in the list 
    TelemWaypointData waypoints[num_waypoints]; 
} CommandsFromTM;

PM → AM Struct:

typedef struct CommandsForAM_t{
  WaypointType waypoint_type;  // not necessary

  // heading unit vector and magnitude
  float dist_x; 
  float dist_y; 
  float dist_z; 
  float magnitude; // Magnitude distance to waypoint target
  float heading; // heading at target waypoint
  double speed_target; // Target velocity of drone approaching target
} CommandsForAM;

Jetson → PM Struct:

(or is this AM)

relative to drone (drone-centered)

• Directions: Bow/stern, port/starboard, ventral/dorsal.

maximum size of x,y, z: 150 meters positive or negative, accurate to cm

max size of heading: 360 accurate to degree

struct JetsonToZpMovementCommand {
  float x;
  float y;
  float z;
  float heading;
}

SM Stuff

System Manager Data Structs and Flow

• Software ARM/DISARM (GSPC)

• PID Values (GSPC)

• WayPoints (GSPC)

  • FlightMode Request (GSPC)

• Jetson → PM Struct (Jetson)

AM Requirements

• PID Values (SM)

  • unknown number of controllers

  • For each controller 6 sets of P I and D values

  • Send them up one controller at a time

Ground Station Requirements

• Motor Outputs (SM)

• PID Controllers and Values

• Sensors

  • sensor fusion output [look at sf_pos interface in LOS]

  • All of them (SM)

  • GPS

  • IMU

  • airspeed

  • rate of climb

  • ALTITUDE

  • airspeed sensor information

• Battery Voltages (SM)

• Controller Values (SM)

• Attitude (Sensor Fusion or SM)