https://lettucemeet.com/l/DZdno
CV Requirements (jetson)
Communication space: ZP master and Jetson slave (ZP initiates all communication and Jetson responds)
Position Data (GPS/IMU → SF Struct)
Request for movement command (System Manager)
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)
maximum size of x,y, z: 150 meters positive or negative, accurate to cm
max size of heading: 360 accurate to degree
struct JetsonToZpMovementCommand { float x; float y; float z; float heading; }
SM Stuff
System Manager Data Structs and Flow
Software ARM/DISARM (GSPC)
FlightMode Request (GSPC)
PID Values (GSPC)
WayPoints (GSPC)
Jetson → PM Struct (Jetson)
AM Requirements
PID Values (SM)
Ground Station Requirements
Motor Outputs (SM)
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)
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