Meeting recording

🖥 PR’s and Reviews

Draft PR for PM auto takeoff/landing (Gordon, Stanley, Liang, Aadi(?)): https://github.com/UWARG/ZeroPilot-SW-3/pull/25

😅 STUCK!

✈ Priorities & Action Items:

fill out team roster here: https://docs.google.com/forms/d/e/1FAIpQLSfGBfnTPGSR_PkMcl-XrxltoGhgfnDmErNO390fO0g0ecRPwg/viewform
you must complete the training to work onsite. Deadline is Jan 31

• W23 Buy List Coordination (Taim , Yuchen, Ryan, Simone, Hamza)

• Deadline for flight critical systems Feb 4 & Feb 11

  • PPM, Comms, TM, etc.

  • Ideally we run an integration test feb11.

🍍 Updates this week!

(Updates here → see table of contents for structure)

ZeroPilot 3

ZP-Ardupilot Integration (Stanley, Alex)

• needs mavlink messages to be defined

  • have been defined, will be implemented

• Stanley & Alex working on driver in LOS

  • Stanley Mavlink

    • new los_mav interface

  • Alex PPM Output, Controller decoding

• Mission Commands — Plane documentation (ardupilot.org)

System Manager (Gordon, Stanley)

• Gordon to come up with payload for mavlink

• GlobalFlag object approved, waiting to merge as it is part of base ZP3 arch, not comp arch.

Path Manager (neha, Liang)

• Synced with Liang → will start waypoint following implementation

• PM Takeoff/landing builds → draft PR up (if i havent added link you have permission to yell at me)

  • I know there were some SM changes → does that affect this

  • Plan is to make it a real PR, get approved, and merge before flying on a drone then make another branch for “fixes” (this is so the branch doesn’t get super old and outdated while being tested)

Attitude Manager (Ishman, Armaan)

• needs tuning

• Anni had a quick meeting to let them know of what attitude manager is

  • Main task is to get Phoenix tuned

  • Deliverables: document on plan to get tuning done.

  • Doc:https://uwarg-docs.atlassian.net/wiki/spaces/ZP/pages/2174287907/Attitude+Manager+Winter+2023+Plan#%5CuD83D%5CuDDD3-Timeline-(Task-1)

• IMPLEMENTATION TALK:

  • be aware of battery charging protocol… ask Ayoung for docs

  • before jumping into tuning, do motor spinup test, put some really large values, take props off, and see if you get expected behaviour (this is to clear up initial bugs)

  • Timeline: Feb 18 for probs on testing

Telemetry Manager (aadi)

• CV side of RFD driver merged in WARG common, new repo that contains common code… same driver for air and ground side.

• Having sync tomorrow

• LOS_Comms: got interrupts working, need to follow los interface pattern.

  • Plan to finish writing and testing tomorrow

LOS

Interface

• LOS POS (Mostafa)

  • got bmx160 working on L5

  • couldn’t get sensor fusion to work

    • send message to anni to talk about possible issues

• LOS Link

  • Configurations need to be re-added.

• LOS Actuators

  • PWM did output, since the clock freq changed to 110Mhz it messed up timing.

    • Will add runtime calculations to make sure the timing is correct no matter the configuration (clock freq, prescaler, period)

• LOS Telem/comms (aadi, yuchen, hailey, alex)

  • Look at Telemetry Manager Update

• Logging?

  • DARWIN HA

Drivers (lets try and get names added soon)

• VN-300 (Tony)

  • Last known thing was that it wasn’t working with L5.

  • Able to try UART to VN to and from ardunio

    • next step is to test with L5 nucleo, new project, pure UART stream

• Neo M.8 (Ayoung, Hardy)

  • Works now! GPS sensor can receive data from sat

  • Can parse data into useable information

  • Compared to google coordinates and the integer part is the same but the decimal is different

  • Faced problem when using the debugger that they went into the hardfault handler

• airspeed (Hardy, Ayoung)

  • No update… still waiting on testing

• SD Card (Darwin)

  • SD Card Logging Impl.

• Mavlink? ()Tony/Alex

  • See Zp ardu integration section

• RFD900? (Los Telem/Comms team)

  • See Telemetry manager section

• Jetson? (Los Telem/Comms team)

  • See Telemetry manager section

• Current/Voltage Sense (Aryan)

  • currently setting up ADC driver that can be converted to current and voltage sensor

Systems Tooling & Infra

Infra + Devops

• No one has picked this up yet. Aadi will after TM is done.

Simulator (SIL) (Mostafa, Alex, Taim, ???)

• no update unfortunately

• need to draft email to aiden’s prof

HIL (Hardware In the Loop) Controller (Yuchen, Mahir)

• scope document: HIL Controller version 0.1.x

• wraping up the code and start testing

• Will finish before feb 4th

• discussing with sahil about the impl

• Not in the call due to a call with sahil

Tracking Antenna (Rahul…temp)

• No update. Will work on after LOS POS.

List of Open Tasks

• optical flow sensor

• Bidir DShot

• SD Card Logging driver

• USB Logging

• Tracking Antenna?

• LOS Link with CRSF SBUS

• Add IOC configuration on Main ZP

• LOS_LOG