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Introduction

 Attendance

  • Alison

  • Anni

  • Arjun

  • Arunav

  • Ayoung

  • Conall

  • Daniel

  • Georgia

  • Jerry

  • Mihir

  • Michael

  • Megan

  • Nathan

  • Tong

  • Yuchen

  • Xierumeng

 Competition Admin

Systems

 Airframe Structure

  • Conall Kingshott Nathan Green Jonathan Di Giorgio

  • When the drone legs were put back on, we had significant issues with insufficient slack.

    • Part of it is wires were through the wrong holes, but the wires are very tight

    • it makes assembling and disassembling the arms very difficult as is

    • arms have bolts through a flange piece that were compressing the connectors

      • shown in picture below

      • extended connectors will allow us to pull the connectors clear of that

  • Mena Azab is working on this from an EE perspective, looking to make wires from ESCs to MT30s longer

    • Getting wire order going here and then work session on assembly coming up!

  • Connectors were also getting pressed into by bolts. Should be relieved by the above

 Cabin

  • Alison Thompson Evan Janakievski Georgia Vachon Westerlund

  • We’re going to be reusing old layups we already had for the floors and side panels

  • Did front and back panel layups Sunday

  • Shout out to whoever wrote this, I appreciate you

    • common teamwork W

  • I am going to send DXFs to be cut on router to Graeme and find out where to leave layups to be cut

    • label which pieces are for which

 Avionics & Battery Shrouds
 Monster Mount (Sensors: Rangefinder, Optical Flow, & Autonomy Downward Camera)
 Aerodynamic Simulations
 Sensors (Non-monster mount, LiDAR)

  • Nathan Green

    • had it working on ardupilot

  • Alison Thompson

    • mount for LiDAR onto Houston is made

    • should fit, M2.5 screws with holes already on Houston frame

    • will mount above pixhawk

    • can be mounted within this week / weekend

 Custom PDB
 Aircraft Schematic
 Bulk Capacitance
 System Harnessing

  • Mena Azab

  • Ordered 16awg wires.

    • for expanding the arm wires

  • Will host a quick session most likely on Friday.

    • for assembling these ones!

 LEDs System

  • Neel Patel Parker Lawrence-Valeriani

  • Brief meeting with Neel Patel Nathan Green Daniel Puratich Conall Kingshott for architecture

    • Looking into doing a downward facing board on the motor mounts

    • Would be a few neopixels, small microcontroller for PWM, just 5 V power gets routed out to them through the arms

    • Sharing bolts with the M4 ones could put a lot of stress on the PCB because the motors need to be torqued down

    • Could use heatsets and M3s so we dont have to use the same holes!

    • Could do strain relief on the board itself

      • would need a washer on the pcb to spread out load

    • have plenty of time to experiment

    • shouldn’t do velcro

    • should be careful where wires are coming off of it, lots of airflow in that area, wires should be contained!

 Gemini Custom Hardware
 Gemini Hardware Programming

  • Derek Tang Anthony Luo

  • they basically confirmed that one side is talking through looking on the oscilloscope but the ardupilot isn't understanding / decoding the signal correctly

 Tracking Antenna Mechanical

  • Arjun Mandair Conall Kingshott Nathan Green

  • Arjun Mandair

    • Currently close to finishing, need to mount RC and video components

    • looking into vuilding two antenna trackers, one for RC, one for video

    • Dimensions and servos is something looking in to

    • Curious on deadlines to stay on track for competition

  • Conall Kingshott

    • Project might need more scoping

    • Lots of manufacturing effort here

    • Deadline instinct: beginning of march to finish mechanically

      • gives april for EFS and EE to get it together,

      • then early may for flight crew to play with it,

      • get comfy before comp for late may

  • Project was a bit on pause as of last week

    • what’s changes is Arjun has more time to work and lead the project!

    • With Arjun driving there’s a realistic world of it getting done

    • As of last week we wanted to be sure this was something we weren’t depending upon

    • Would be sweet to get more mech members looped in with Arjun on the project!

      • few Asana tasks in the works already!

      • would make it more sustainable and increase odds of success!

  • This is not just the antenna tracker

    • there’s a lot of side things

    • no time for telescoping pole, highly likely not to be happening!

    • CAD review and check in on mech meeting or other meetings is a rlly good step forward to picking this pack up!

 Tracking Antenna Electrical

  • Nolan Haines Hardy Yu Michael Botros

  • Schematic is done

    • All features desired are implemented in schematic

  • Ready to start on placement

  • Timeline

    • on track for finished by end of December

      • Michael is looking to go until the 22nd on it

    • Would be sweet to finish this board before the 25th

      • then order this board, LED board, & servo module board all in early January

      • Integration throughout next term!

  • Potential advantages of getting rid of the Nucleo and putting the shield on the board?

    • Is this scope creep? Could be pushed to Rev 2

    • Nucleo has the STLINK which is nice for dev

    • Easier to debug bc can seperate microcontroller from other hardware

    • easier to replace dead micro

    • could consider for rev 2

 Tracking Antenna Sensors & Firmware

Yuchen Lin Stanley Tang Ayoung Eun Aryan Kashem

  • SD Card SDMMC Driver

    • No update this week

  • Arduino Tracking Antenna EFS

    • GPS Driver is complete

      • we need to Parse Data

      • need to test it

    • Must test GPS fix in an open area during clear weather

      • keeps not working, maybe hardware issue

      • UART is working

      • tested outside when it was cold and it didnt get fix

    • Working on MavLink driver to get GPS position

    • Set up XBee software

      • Must configure it

 Object Detection Autonomy

  • Alex Yang Amy Hu

  • Mihir Gupta

  • Ran successful flight tests and got valid data for ML model

  • next step is ML team to annotate and clean up data

  • looking for a total number for number of images we have already

    • gives an indication of how many more images and flight tests we’ll need next term

  • Timeline

    • Goal is start annotation right now

    • Finish annotation next term and start training models

    • Proccess will be pipelined RISC-V style, annotation and flight tests will be parallelized so continual improvement of algorithms!

 LTE RPi Setup (Airside Autonomy System) & Camera System (Houston & Pegasus)

  • Tong Zhang Amy Hu Mihir Gupta

  • Have PRs up for target worker and command output

    • geolocation will not be done by end of term

    • merge data worker done for end of term

  • Camera Issue

    • had loose connection on cable

    • need to re-crimp connector on cable

    • Issue is people pull the connector by the cable so it pulls the crimps out of the housing

      • easy to half way to put it in

      • we will culturally discourage unplugging it by the cables, should be pulling on the housing of the component

        • this seems like best solution

    • taping idea

      • we have to remove camera a lot so taping it a lot is kinda brutal

      • can rip off electrical tape

    • right now the camera connector is hot glued together

    • may be worth some strain relief

      • want to be sure solution is not worse then the problem

    • may be worth buying more JST conn housings and crimps so we can fix these issues in non-scuffed ways

      • this comes up a lot for other connectors as well

      • We have had issues with crimping these in the past, we should buy a generic crimper fot JST

        • daniel estimates around 50 bucks, worthy investment because we use JSTs so much

    • looking into buying another camera

      • should look at how much autonomy funds we have

      • If we have funds for it, would be a worthy purchase, right now we only have a single one!

  • Airside system

    • profiling image encodings for LTEing the images to the ground station

    • Mihir Gupta Nathan Green looking to stream UDP port over LTE

    • Zerotier

      • more for solidworks

      • also used for this system

 Pathing Algorithms/Software

  • Arunav Munjal Amy Hu

  • KML generation for visualizing waypoints is completed

  • Tested task 2 code on mission planner, debugging it as soon as avail

 Houston Camera Mount

  • Smile Khatri

  • Has been working well, looking very good!

  • no concerns

  • no updates

Admin

 Upcoming Flight Test(s)

  • Hardy Yu Yuchen Lin Anthony Luo Daniel Puratich

  • Remaining Testing Goals before end of term

    • Ground Testing

      • Gemini

      • Video over LTE

      • Calibrate Optical Flow

      • Monster mount offsets

        • for rangefinder and Optical Flow

    • Flight Testing

      • Four vs Six Batteries test (all require test flights)

        • Pegasus Autotune

          • pay attention to weather conditions

      • Pegasus Four Battery Endurance

        • Autotune would be best but its too much time :d

        • Endurance will be better with a tuned drone

        • Could do this before autotune just to get some values

        • This is the only flight test practical for end of term

      • Pegasus Six Battery Endurance

        • We do not have enough nice batteries for this

  • Last Weekend of term before finals

    • Weather is brutal

      • this is the bigest blocker

    • People avail

      • Nathan

      • Daniel

      • Alison

      • Conall

    • Nathan can be in Waterloo if required for Pegasus flight test

    • Alison (with car) will be avail this weekend

    • Dec 2nd

      • Ready to test Autonomy CSV for WRESTRC

        • must be on this day because WRESTRC required and this is only day we have it booked

      • Hover test on four good batteries

        • hoping for 30 mins flight time on this

    • Dec 3rd

      • pencil in for possible LIDAR flight depending on how things go!

  • No more available testing dates this term so gg team!

 Phase #1 Paper

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