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The data_merge_worker and geolocation_worker have been merged into the codebase and have corresponding unit tests. We will need to test these workers on the drone to confirm they work.

The controllerdecision_worker has been merged into the codebase and has corresponding unit tests. For the Fall term, we want to take the simplest path to achieve auto-landing. As a result, we will have to make a new controller_worker that is much simpler.

No work has been done on the command_output_worker . This will need to be a task that is done during the Fall.

Flight Test Plan

Flight Test Date

Items to Flight Test

September 16th, 2023

  • Test the QR Scanner and Waypoint Upload to the drone.

    • Confirm that it flies the specified route soundly.

  • Test the $200 CV Camera

    • Confirm the purple hue has been reduced/goes away.

September 23rd, 2023

  • Test geolocation module.

    • Confirm that the output of the geolocation module provides reasonable results

October 7th, 2023

  • Test geolocation module.

    • Confirm that the output of the geolocation module provides reasonable results

October 21st, 2023

  • Test the cluster estimation module.

    • Confirm that the outputs of the cluster estimation worker is an accurate approximation of the landing pad's location.

November 4th, 2023

  • Test the cluster estimation module.

    • Confirm that the outputs of the cluster estimation worker is an accurate approximation of the landing pad's location.

November 18th, 2023

  • Test the controller module.

    • Confirm that the best landing pad is being selected for landing.

December 2nd, 2023

  • Test the command output module.

    • Confirm that the correct MAVLink message is being sent to the Flight Controller.

      • We will use a MAVLink message that loiters over the landing pad at a set altitude.

    • Confirm the correct information is being passed in the MAVLink message.

    • Confirm that the drone does loiter over the desired location at the flight test.

December 16th, 2023

  • Test full automatic landing

    • Confirm that the drone lands on the landing pad