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Ardupilot Integration

New SM Repo

stripped down version of system manager that only talks to telemetry manager & LOS layers. This is designed to allow easy and simple Ardupilot integration.

  • los layer integration

    • Integration with Ardupilot

  • controller state decoding

  • ppm output in los

Zeropilot SW ZeroPilot 3.0 Architecture - ZeroPilot - WARG (atlassian.net)

System Manager System Manager

System Manager manages the highest level operations of the drone. SM is in charge of spawning and managing the TM, AM, and PM threads, facilitating inter-thread communications, determining the drone’s state of operation, some signal decoding, and handling of drone fatal failures.

Outstanding Tasks:

  • Further testing of RC to AM passthrough barebones version

    • Hardfault in communication to AM?

  • Uncomment and update code to integrate PM

  • Uncomment and update code to integrate TM

    • Determine TM input data format and conversion to PM format

  • Add use of global flag object for PM to RC input switching

    • Already created, should be easy to use

  • Improve fatal failure detection

    • Timeout

Path Manager

Attitude Manager Attitude Manager 3.0 - ZeroPilot - WARG (atlassian.net)

Attitude Manager manages the position of the aicrcraft in real time, using closed-loop controls algorithms for both fixed wing and multirotor aircraft. We receive position data from LOS_Pos and instructions either from PM or SM.

Generally, our flight modes include:

Manual (Acro) → the pilot controls the control surfaces directly, or controls the rate of angular acceleration

Stabilize (Horizon/Attitude) → the pilot inputs a desired angle, and the control algorithms attempt to maintain the desired angle in a global reference frame.

GPS (hold) → the pilot inputs desired translational motion, and the control algorithms attempt to maintain a position in a global reference frame.

In person only: Tuning

Outstanding tasks:

  • Fixed Wing Stabilize algorithm + tuning

  • Fixed Wing Manual tuning

  • Fixed Wing GPS algorithm + tuning

  • Quadcopter Stabilize tuning

  • Quadcopter GPS algorithm + tuning

  • Quadcopter Acro algorithm + tuning

  • Transition state algorithms + tuning

  • Newer / better PID Algorithms?

  • PID Auto-Tune?

Related SysInt material:

  • pid tuning rig from mechanical

  • having a working & wired drone from mech/ee

  • understanding how to safely operate a drone either on a rig or in the air

Telemetry Manager

Laminar OS

LOS Interfaces:

LOS_Actuators

LOS_Comms

LOS_Telem

LOS_Pos

LOS_Log

LOS_?

LOS Drivers

SD Card

Actuators (PWM +DShot)

Comms ?

NEOM8

Airspeed

VN300

Optical Flow (3901 - L0X or PX4FLOW)

Barometer

PPM Output

LOS Core

TBD

INFRA

SIL (simulator)

HIL

Tracking Antenna Tracking Antenna Project - ZeroPilot - WARG (atlassian.net)

To automatically turn our directional antenna to always point at the aircraft

We use the GPS position and altitude of the drone to calculate the target yaw and pitch for the antenna, then control motors to rotate the antenna towards the target location

Outstanding task:

  • Implement the GPS position → yaw and pitch algorithm in C++ (already done in matlab)

  • Drivers for imu, GPS, and motors

  • Tune PID for motors if needed

Related:

  • Mechanical design for tracking antenna

Devops

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