2024-11-29 Autonomy Meeting

Pathing

@Jane Zeng

• Circle mode

  • No progress

• Path generation PR, Jane will review

• Water search - PR is up, Jane will review today

• @Evan Zhao move log parsing to post-processing

  • In progress

• Ground station recieve message task

  • Combine with using common to create KML @Aayush Deshpande

• Set a convention on first byte being what worker this came from, @Daniel Akira Suzuki to change common library for a enum

  • For Dec 1, 2024

Airside

@Ashish Agrahari

• Communications worker

  • @Daniel Wang merged

• @John Zhang ground communication using FTP

  • Good progress

• @Lucas Liao Perhaps send STATUSTEXT messages on camera startup and bootup

  • Found fix!

  • Flight controller + flight interface new function - send status text

  • New flight controller queue that takes in all status text messages that the other workers want to send @Aayush Deshpande

• @Siddh Patel New detect target class for IR detection

  • PR is up, almost merged

  • New task - move configs out to config.yml

• @Aleksa Misic Cluster estimation clustering by labels

  • PR is up, waiting on Camera Factory refactor in ariside repo

• @Daniel Akira Suzuki Data encoding

  • PR reviewed

  • Make first byte indicator

Other Tasks:

• @Achita Anantachina Classical CV method tests

  • PR up - turn off imshow in unit tests, as runners don’t have screens

• @Shahvir Wahab Testing ROS with ardupilot

  • ?

• @Tochi Okoro Auto landing module (for task 2)

  • Talked about the task

• @Arjun Sodhi Rudimentary geolocation

  • Almost done

• @Bruce wang Do edge detection of water bucket for task 2

  • In progress, getting an understanding

ML

@Vibhinn Gautam

• No notes as of now.

IMACS

@Balaji Leninrajan

• PRs for

  • Create widget for camera (Reviewed)

  • Implement UI to change address and port (reviews in progress - will hopefully review soon)

  • Create RTL (Changed pushed, will review soon)

• All other tasks in progress

Obstacle Avoidance

@Vyomm Khanna

• Refined new decision module for vfh output, adding flightmode and nextwaypoint as params for thorough obstacle-avoidance

• created integration tests for lidar_parsing, fixed minor issues in test-cases, should be ready to merge.

  • adjusting flight_interface and creating a new OdometryandWaypoint data struct (using common’s Orientation and PositionLocal structs) as old versions redundant due to changes in common, so that VFHDecision can access position, orientation, mode and waypoints dynamically in queue.

• wrapping up integration tests for vfh, looking into the exact commands VFHDecision should output (currently just steering_angle)

IR Camera + detection

@Vibhinn Gautam

• Testing requests for new IR Camera - when they come in we would like to ideally test them out. This will be a task but assigning it in this meeting is optional.

• Camera driver @Alex Liu

  • Merged

  • Task - export camera configs to yml (as a parameter for common, also needs to be implemented in airside)