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)