Meeting recording

🖥 PR’s and Reviews

Draft PR for PM auto takeoff/landing (Gordon, Stanley, Liang, Aadi(?)): https://github.com/UWARG/ZeroPilot-SW-3/pull/25

😅 STUCK!

✈ Priorities & Action Items:

fill out team roster here: https://docs.google.com/forms/d/e/1FAIpQLSfGBfnTPGSR_PkMcl-XrxltoGhgfnDmErNO390fO0g0ecRPwg/viewform
you must complete the training to work onsite. Deadline is Jan 31

• W23 Buy List Coordination (Taim , Yuchen, Ryan, Simone, Hamza)

• Deadline for flight critical systems Feb 4 & Feb 11

  • PPM, Comms, TM, etc.

  • Ideally we run an integration test feb11.

🍍 Updates this week!

(Updates here → see table of contents for structure)

ZeroPilot 3

ZP-Ardupilot Integration (Stanley, Alex)

• needs mavlink messages to be defined

  • have been defined, will be implemented

• Stanley & Alex working on driver in LOS

  • Stanley Mavlink

    • new los_mav interface

  • Alex PPM Output, Controller decoding

• Mission Commands — Plane documentation (ardupilot.org)

System Manager (Gordon, Stanley)

• Gordon to come up with payload for mavlink

• GlobalFlag object approved, waiting to merge as it is part of base ZP3 arch, not comp arch.

Path Manager (neha, Liang)

• Synced with Liang → will start waypoint following implementation

• PM Takeoff/landing builds → draft PR up (if i havent added link you have permission to yell at me)

  • I know there were some SM changes → does that affect this

  • Plan is to make it a real PR, get approved, and merge before flying on a drone then make another branch for “fixes” (this is so the branch doesn’t get super old and outdated while being tested)

Attitude Manager (Ishman, Armaan)

• needs tuning

• Anni had a quick meeting to let them know of what attitude manager is

  • Main task is to get Phoenix tuned

  • Deliverables: document on plan to get tuning done.

  • Doc:https://uwarg-docs.atlassian.net/wiki/spaces/ZP/pages/2174287907/Attitude+Manager+Winter+2023+Plan#%5CuD83D%5CuDDD3-Timeline-(Task-1)

Telemetry Manager (aadi)

• CV side of RFD driver merged in WARG common, new repo that contains common code… same driver for air and ground side.

• Having sync tomorrow

• LOS_Comms: got interrupts working, need to follow los interface pattern.

  • Plan to finish writing and testing tomorrow

LOS

Interface

• LOS POS (Mostafa)

  • got bmx160 working on L5

  • couldn’t get sensor fusion to work

    • send message to anni to talk about possible issues

• LOS Link

  • Configurations need to be re-added.

• LOS Actuators

  • PWM did output, since the clock freq changed to 110Mhz it messed up timing.

    • Will add runtime calculations to make sure the timing is correct no matter the configuration (clock freq, prescaler, period)

• LOS Telem/comms (aadi, yuchen, hailey, alex)

  • Look at Telemetry Manager Update

• Logging?

  • LOS_LOG has not started… driver is still in prototype repo and needs to be ported to L5

Drivers (lets try and get names added soon)

• VN-300 ()

  • Haven’t started testing yet

  • Stanley was testing by just sending UART commands over using the VN software

    • was not working when sending commands using the stm32

• Neo M.8 (Ayoung, Hardy)

  • Started with shell code, planning on grinding some this week

  • Through the GUI, GPS is having a hard time connecting to satellite

• airspeed (Hardy, Ayoung)

  • To be tested via a car and ported to LOS drivers

• SD Card (Darwin)

  • port to L5

• Mavlink? ()Tony/Alex

  • discussed in meeting

• RFD900? (Los Telem/Comms team)

  • Aadi is currently testing using python script

• Jetson? (Los Telem/Comms team)

  • same driver, discussed in meeting

• Current/Voltage Sense (Aryan)

  • currently setting up ADC driver that can be converted to current and voltage sensor

Systems Tooling & Infra

Infra + Devops

• team don’t exist, aadi doing some when he needs it

• let us know if you are interested in working in this

Simulator (SIL) (Mostafa, Alex, Taim, ???)

• no update unforunately

• need to draft email to aiden’s prof

HIL (Hardware In the Loop) Controller (Yuchen, Mahir)

• scope document: HIL Controller version 0.1.x

• Will warp up the code and start testing

• Will try to finish before feb 4th

• will discuss with sahil about the impl

• Not in the call due to a call with sahil

Tracking Antenna

• no one working on it rn, maybe kevin still?

One thread Wonder for comp???????

• WHOLE NEW REPO FOR COMP

List of Open Tasks

• optical flow sensor

• Bidir DShot

• SD Card Logging driver

• USB Logging

• Tracking Antenna?

• LOS Link with CRSF SBUS

  • Add IOC configuration on Main ZP

• LOS_LOG