2025-03-06 Autonomy meeting

Pathing

Balaji Leninrajan Evan Zhao

• Honzik Schenk had a PR up

• Matias Rivas's task is in progress

  • PR is up

  • Plan to re-migrate main_2025 after this gets merged

• Common migration is still being reviewed, will probably have more bandwidth to look into this next week - Balaji Leninrajan

• Evan Zhao Finding water route PR under review – but more scrutiny is also needed for double-checking validity of algorithm after realizing a test case was wrong – Evan

• Common migration will probably need to be given to Balaji Leninrajan as Evan turned out to not have enough time + next week will be reading week :/ – Evan

Airside

Achita Anantachina Herman Gahra

• Aleksa Misic cluster estimation by labels

  • label no longer input, rebased

  • Waiting review

• Rohan Katreddy Integration test for cluster estimation

  • Under review

• Tochi Okoro Autolanding module + worker

  • Under review, almost ready

  • (Not being included in main for now)

• John Zhang MAVLink FTP

  • PR is updated

  • Evan Zhao Unit test from logs_to_kml failing

    • Follow up with John Zhang to update submodules

• Adrian Lock Communication unit test

  • Merged

• Siddh Patel profile performance

  • Achita Anantachina to review

• Victor Huang Min brightness filter

  • Almost done

• Yibo Yang Cluster estimation – filter by number of points in cluster

  • Progress, almost done

MAVLink update:

• STATUSTEXT messages have strings as input (null terminated), so we cannot send the byte “0”

• Try these 3 other messages, and see if they get forwarded from flight controller (pixhawk/simulator) to ground station: https://mavlink.io/en/messages/common.html

  • DEBUG_VECT (250)

  • NAMED_VALUE_FLOAT (251)

  • NAMED_VALUE_INT (252)

IMACS

Vibhinn Gautam

• Tochi Okoro SITL controller

  • Going (pretty) well so far, worked on heartbeat sender/receiver.

  • Can start/stop the drone simulator

• Alex Liu Updates?

  • To follow up: new library for camera and writing tests

• Andrew Wan add waypoints to queue

  • Almost complete, testing in progress

• Hasan Baig Map widget

  • Some progress made this week.

• Leonardo Zhou no updates so far. Might need to re-assign.

• personally I am looking to update documentations over reading week as it is confusing and outdated

Obstacle Avoidance

Vyomm Khanna

• Andrew’s reviewed the PRs , merging them into OA repo by tommorw.

• Working on final unit + integration tests for VFHDecision that were blocked by the merge

• Ready to roll out task: Implementing module to translate output of the VFHDecision Module into a MAVLink command to deflect the drone using flight-interface and controller.

IR Camera + detection

• Victor Huang Create a new option for camera in common?

ML

Multiple people work on these, top priority (lots of images!)

• Picutre pruning

• parameter tuning for brightness detection