Comms Meeting

https://lettucemeet.com/l/DZdno

CV Requirements (jetson)

ZP-Jetson communication is over UART. ZP initiates the following communication and Jetson responds if required.

Jetson receives:

Position Data (GPS/IMU → SF Struct): Contains location + height and orientation. No need for faster than 10 Hz.
Request for relative movement command (System Manager).

Jetson sends:

Movement command.
Landing initiation command.

Jetson initiates and sends the following:

High-priority live messages (e.g. failure state such as process dying and not being able to be restarted).
- Low-bandwidth/small-size - We have limited communication resources!

PM Requirements

Waypoints (SM)
InitiateLanding Bool (Jetson)

AM → PM Struct:

typedef struct CommandsFromAM{
    bool armed;  
} CommandsFromAM;

GSPC → PM Struct:

struct TelemWaypointData {    
  double longitude;  //    
  double lattiude;   
  uint8_t waypoint_id; 
};

typedef struct CommandsFromTM{
    bool start_landing;
    uint8_t num_waypoints; // number of waypoints in the list 
    TelemWaypointData waypoints[num_waypoints]; 
} CommandsFromTM;

PM → AM Struct:

typedef struct CommandsForAM_t{
  WaypointType waypoint_type;  // not necessary

  // heading unit vector and magnitude
  float dist_x; 
  float dist_y; 
  float dist_z; 
  float magnitude; // Magnitude distance to waypoint target
  float heading; // heading at target waypoint
  double speed_target; // Target velocity of drone approaching target
} CommandsForAM;

Jetson → PM Struct:

(or is this AM)

relative to drone (drone-centered)

Directions: Bow/stern, port/starboard, ventral/dorsal.

maximum size of x,y, z: 150 meters positive or negative, accurate to cm

max size of heading: 360 accurate to degree

SM Stuff

System Manager Data Structs and Flowarchived

Software ARM/DISARM (GSPC)
PID Values (GSPC)
WayPoints (GSPC)
- FlightMode Request (GSPC)
Jetson → PM Struct (Jetson)

AM Requirements

PID Values (SM)
- unknown number of controllers
- For each controller 6 sets of P I and D values
- Send them up one controller at a time

Ground Station Requirements

Motor Outputs (SM)
PID Controllers and Values
Sensors
- sensor fusion output [look at sf_pos interface in LOS]
- All of them (SM)
- GPS
- IMU
- airspeed
- rate of climb
- ALTITUDE
- airspeed sensor information
Battery Voltages (SM)
Controller Values (SM)
Attitude (Sensor Fusion or SM)