✅ Discussion topics
(anything firmware-team-wide that you want to discuss)
Gimbal confirmed working
Would you guys like to keep the triangular git workflow or move to consolidated WARG Repo?
Allocation of Resources → what pins are we using on the board?
Need to delegate pins that will be used sooner rather than later.
Will be more relevant once we port from H7 to F7.
🖥 PR’s and Reviews
Review Aidan’s Github PR Checklist PR (the PR for the PR 🐬 ): https://github.com/UWARG/ZeroPilot-SW/pull/160
PR’s for AM are up (Dhruv): https://github.com/UWARG/ZeroPilot-SW/pull/162
XBee’s PR is up (Aadi): https://github.com/UWARG/ZeroPilot-SW/pull/161
PM Restructure PR is up (Steven): https://github.com/UWARG/ZeroPilot-SW/pull/157
✈ In Person:
In Person Testing Continues:
PID’s, PPM over radio, ETC
Verification of IMU driver?
❗ Updates!
(Your own updates)
Attendance:
Team Member Updates
Anthony:
Attempting to reach out to vectornav for driver libraries.
Working on drafts for Acro Mode control (simple testing).
Investigating property similar to AirMode → allows software variant throttle control?
Aadi
Comms is working! PR is up
Only works in one direction (which is what is required)
Want to work on V2 for Comms
Will require required timeline on Interchip
Can write up a new test program for Autopilot
Aidan
Been looking at trying to get IMU attached to Safety, make sure it works
Trying to get VectorNav hooked up when Anthony has drivers (in case MPU 6050 drivers don’t work)
Helped Chris with implementation DShot
Chris
Working on DShot implementation, discussed with Aidan regarding how the interface will work
Paused on the DMA portion of the task, researched how DMA works
Made class, some generic functions to make it work (implementation to be done)
Timeline - Can be done in terms of code in two weeks
Dhruv
AM compiles on safety side
Put a few unit tests → make sure faults and stuff are ironed out.
F7 to H7 port?
should be good to change IMU name in IOC directly.
F7 and H7 are pin to pin compatible. (see : https://www.st.com/resource/en/application_note/an5293-migration-guide-from-stm32f7-series-and-stm32h743753-line-to-stm32h7a37b3-and-stm32h7b0-value-line-devices-stmicroelectronics.pdf )
Huge thanks to tony ‼
EE assembling boards
Gordon
takeoff and landing → mostly matrix math.
Takes in set maximum velocity, approach velocity → plots them out with regards to height difference
Plan is to repeatedly set waypoints and modulate airspeed as it travels between two points
Going to verify new PM restructure and make plan on how to implement into state machine
Kaveet
Spent past week looking into Vectornav datasheet
Looked into different formats to get GPS values from
Found whole GPS driver online
Wrote out a rough implementation plan, spoke to Anni after meeting
Neha
Started initializing waypoints, defining hover based on fixed-wing or multicopter
Check with CV on how hover data is being sent
Math for staying at a hover point
Going to restructure around
Tony
Done AM tasks for now, looking for new task to work on
Assigned Arm/Disarm task on AM, to ensure that drone doesn’t turn off as long as disarm state is on
Abhi
Got link to join Discord from Gordon, would like to join team
Will discuss bootcamp with others after meeting
Git Workflow Discussion
Gordon - done at his work, good to see what others are working on as well
Makes it easier to avoid merge conflicts, things are simpler
Anni - Would still PR into devel and master, PR your current working branches into main repo
PR your fork’s branch into main repo’s branch of the same name
Suggest - take 5-10 minutes, make PR of your working branch into main repo
Leave email and Github username at the bottom
Absent Updates
Nixon: no updates
😅 Current Task Distribution
🔭 Things to look out for!
Multiple PR’s up over coming week.