2024-07-24 Autonomy Meeting

Pathing

Aaron Wang

• Integrate common MAVLink to pathing is now a milestone

  • Has been broken down into multiple sub-tasks

  • Added some documentation, need to add more visuals

  • Tochi Okoro Rewriting modules

    • PR up, not yet reviewed

    • Should free up the upcoming tasks to of rewriting main pathing scripts

• Quan Le has been assigned to creating upload command function in FlightController

  • PR Merged

• Chloe Yip QR listener

  • Testing ongoing (Need to test with mission planner)

• Iris Mo Implement 2023 task 1

  • Dynamic pathing work, old path diversion algo does not (probably an issue with latlon, we’ll figure out)

• Jane Zeng Run MAVLink from csv/text

  • PR Merged

• Matthew Riley assigned to task to create algorithm for inflating a bounded region

  • Algorithm done for cartesian, need to convert to latlon

Airside

Dylan Finlay

• Testing Geolocation this weekend if Houston works

• Need to keep thinking about new conops

• Dahui Kang cluster estimation

  • Figuring out numbers for config file before submitting PR

• Amy Hu Decision handling in flight interface

  • In the PR process rn. PR has been reviewed.

• Mihir Gupta geolocation

  • Flight test coming up this weekend

• Herman Gahra Decision worker

  • Going back and forth with PR’s rn

  • Lookin

• Ashish Agrahari Graceful handling and notification of errors

  • In progress again since worker movement changes

• Ashish Agrahari Move Worker Management

  • Done

• Ashish Agrahari Research extending Ardupilot with ROS

  • Looking into it

• Dylan Finlay Modify detect target to be configurable

  • Code updated with worker manager changes and other new fixes

  • Both configurations working

  • Just need to update unit tests for detect target

• Dylan Finlay Write main_detect_target script

  • Script is ready with the classical cv configuration changes

  • Just need to fix/pass unit tests as mentioned above

• Victor Terme research and implement classical CV method

  • Meeting up at some point this week to discuss this task

ML

Yash Gunturi Eshwara Vidya

• Yash Gunturi Eshwara Vidya deployment on pi and camera

  • no updates

• Ajai Chandi Train models with diff augs

  • Models trained in roboflow

• Yue Yang assess model

  • no updates

LTE

Maxwell Lou

• Maxwell Lou Refactored socket code for TCP

  • waiting for review

IMACS

Balaji Leninrajan

• Sargun Singh Bhatti test serial connection

  • Deferred

• Sargun Singh BhattiCreate widget terminal to execute scripts

  • In progress

• Andrew Shum widget to add and queue waypoints

  • In progress, PR up but has weird bugs w/ tests

• Ivy Ye Create Navbar

  • In progress

Obstacle Avoidance

Andrew Shum

• Implementing manual pilot takeover condition

• Starting to implement path deflection algorithm

Python version update

Maxwell Lou

• Look into upgrading the Autonomy system from Python 3.8 → Python 3.11 (since that is the new standard on the Rpi5)