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Vyomm Khanna \uD83D\uDDD3 Date

\uD83D\uDC65 Participants

📣 Announcements

  • We are confirmed to compete in AEAC Student Competition in Medicine Hat, Alberta in May 2025!

  • Obstacle avoidance flight test on 9-28

    • Did not run: the buck converter which converts the battery’s 12V to 5V for the pi broke

      • Need to ground test the whole system earlier before flight test day

    • Instead, collected some LiDAR data of particular scenes → Andrew Shum Vyomm Khanna

    • Also started raining, pegasus tuning done halfway, needs more testing

✈️ Upcoming Flight Tests

  • Flight tests are a great experience, fun, and are great to learn how things work!! We would like more autonomy members to join in on testing in the Bay and at flight tests!

    • The bay is open for everyone if you have done the required training (and bootcamp?), so please feel free to come into the bay whenever.

  • Will run autonomy system on Houston

    • https://discord.com/channels/776618956638388305/1289257239957340221

    • Running geolocation: seems that bugs are mostly fixed ← explain geolocation and our current airside system?

      • Ground test result Ashish Agrahari - successful. See Autonomy/Geolocation_GroundTest_Oct4_2024 folder in onedrive

      • Test detect landing pads for now

      • Test between both CV and ML model for detection (see if they both work) - successful see onedrive folder.

      • Also, new trained ML model works much better

    • Fly in a circle? Jane Zeng ← explain Ardupilot (drone) ↔︎ mavlink ↔︎ MissionPlanner (ground)

  • May be moved to next week depending on availability

    • Fly cluster estimation with geolocation.

    • Switch waypoints mid-flight, pathing to switch modes (circle mode to auto for switching between flying a ring and flying to the next ring)

  • Competition Task 1 flight test on

\uD83D\uDDE3 Discussion topics

Project

PM

Notes

Pathing

Jane Zeng

Airside

Ashish Agrahari

ML

Vibhinn Gautam

IMACS

Balaji Leninrajan

  • Sargun Singh Bhatti Create widget to execute scripts

    • In progress, PR likely by this weekend

  • Andrew Wan Create button for RTL

    • Basically ready for PR

  • Tochi Okoro Create controller for creating and configuring SITL

    • In progress

  • Daniel Wang Create navbar

    • In progress

  • Alex Liu Create widget to display camera feed from drone

    • In progress

  • Akshay Satish Create widget to add and queue waypoints

Obstacle Avoidance

Vyomm Khanna

  • Flight testing this weekend to collect data.

  • Researching path deflection algorithms - decided on Vector Field Histogram for obstacle avoidance.

  • Started algorithm implementation, can visualise polar field histogram from LiDAR readings.

  • Getting up to speed on DroneKit and current navigation architecture to work on adding waypoints to drone in-flight.

IR Camera + detection

Vibhinn Gautam

  • Email received from Dan (Teledyne)

    • We will continue looking for a separate camera as the expected meeting date is too late (November). Some IR cameras have been suggested; we seek to select one by Tuesday Oct 8.

  • Need to start developing soon (start with detection of any color)

  • Other shipments are on the way, no clue where.

✅ Action items

From last week:

  • Herman Gahra Re-review
  • Dylan Finlay Create PR
    • Task for changing this CV method to detect any color rather than just blue
  • Add shahvir to confluence and assign ROS
  • Assign Alex Liu to Camera IMACS task

This week:

  •  

⤴ Decisions

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