2024-11-22 Autonomy Meeting

Pathing

Jane Zeng

• Circle mode will be speedrunning now

  • Can assign

• Waypoint circles is merged

• Achita is working on KML generation, should be up soon

  • Tests for ensuring competition style valid

• How is the path generation going?

• Water search - PR is up

Airside

Ashish Agrahari

• Aleksa Misic Cluster estimation progress

  • Merged

• Communications worker

  • Daniel Wang to move to after cluster estimation

• Reassigned Aayush Deshpande to cluster estimation logs

• John Zhang ground communication using FTP

• Lucas Liao Perhaps send STATUSTEXT messages on camera startup and bootup

• New detect target class for IR detection

Other Tasks:

• Achita Anantachina Classical CV method tests

  • Seems to be working!

• Siddh Patel Add a CV detection configuration to detect the IR emitters (brightspots)

  • Working on it. Starting making tests.

• Shahvir Wahab Testing ROS with ardupilot

  • Sync with Eddy and Tong Zhang about future of ROS

• Victor Terme Auto landing module (for task 2)

  • Unassigned

• Daniel Wang Detect Target Logging

  • Merged

• Andrew Wan Arjun Sodhi Rudimentary geolocation

  • approach switch → trig, better understanding now

• @Bruce wang Do edge detection of water bucket for task 2

  • Need to reconsider task, as it is related to classical CV code task - make new detect target

  • Get pictures using CV camera

• Leonardo Zhou Detect white

  • Detect white spots in an image

• Catherine Jin Image filtering function: put in detect target module

ML

Vibhinn Gautam

• No notes as of now.

IMACS

Balaji Leninrajan

• PRs for

  • Create widget for camera (Reviewed)

  • Implement UI to change address and port (reviews in progress)

  • Create RTL (Going to be merged soon)

• All other tasks in progress

Obstacle Avoidance

Vyomm Khanna

• Refined new decision module for vfh output, adding flightmode and nextwaypoint as params for thorough obstacle-avoidance

• created integration tests for lidar_parsing, fixed minor issues in test-cases, should be ready to merge.

• adjusting flight_interface and creating a new OdometryandWaypoint data struct as old versions redundant due to changes in common, so that VFHDecision can access mode and waypoints dynamically in queue.

• wrapping up integration tests for vfh, looking into the exact commands VFHDecision should output (currently just steering_angle)

IR Camera + detection

Vibhinn Gautam

• Please find more IR cameras, have a $720 budget sitting around that will expire Dec 20 (DEADLINE TO ORDER IS NOV 27-29!!).

  • Get a few members tasked on this, we need more people

  • Create decision matrix in confluence Catherine Jin finished this

  • 940nm detection

  • Global shutter

  • Non-distorting

• MEF presentation went well! Results expected in a week or two

• Camera driver Alex Liu

  • Testing with Rpi and picam, took home the hardware (1 each)