May 12th 2022

Owned by Shrinjay Mukherjee
Last updated: 2022-04-26 by Sahil Kale
2 min read

Team Sync

  • Mechanical: Reconstruct the prototype frame, assemble carbon fibre frame, grabber construction and assembly, gimbal reconstructed.

    • New grabber construction underway

    • Next iteration prototype frame being built, grabber redesigned for less theraband, strengthening on arms

  • Electrical: Need battery measuring setup on PDB. Need control board for the grabber.

  • Firmware: Controls and Teleop remaining, safety FreeRTOS rearchitecture. Path Manger remaining. Telemetry for ground and aircraft.

    • Telemetry Manager complete and almost merged in.

    • Path Manager almost complete, more detailed updates required.

    • Controls and Teleop, FreeRTOS setup needs to be completed so sensor fusion works, this should be the last thing before PID tuning.

    • Grabber control, driver board finalized, controls for that will be written on safety. Controlled by RC.

    • go/nogo for minipix: Aidan leaves end of this week, if we can’t get SF working and PID tuning started by EOW, then we should switch to minipix.

  • Computer Vision: People detection model needs to be finalized, OpenHD needs to be stabilized. QR Scan needs to be system tested w/ communications. Ground communication needs to be finalized.

    • Gimbal Control: Confirm w/ Sahil we just need to provide serial output to the Arudino to make this work.

 

 

Sahil/Shrinjay Sync

  • Knowledge transfer of how to fly the drone

    • Sync w Andy

      • Set up a time to call with Andy to setup RC link and fly briefly while in the bay

    • RC link

  • Logistics

    • WRESTRC Handoff

    • Key Fob Handoff

Subteam breakdown

  • Mech

    • Redesign original grabber, 12V actuator

    • Shock went to grabber causing crash

    • Driver boards are sourced, FW needed to get the code for it

  • FW

    • ZP is being used for competition

      • Really want to fly our stuff

      • At least collect data as we fail to build ZP as it has never flown a quadcopter

      • Build morale thing

      • We need to be doing PID tunings

      • IMU took a while to re-engineer

        • 1 mo to design

      • Current state: PID tuning

  • EE

    • Got boards sourced

    • Drivers need to be setup

    • Mech can complete and setup new grabber

  • CV

 

Ground station

  • Air/GND communication is not finalized

  • Important for us to do task 2

  • If comms don’t work from jetson, send data via FW

  • FW/GND link is validated

 

DECISIONS

  • Remove jetson from onboard components

  • Control gimbal through AP

    • TODO: Someone needs to own this

  • @Sahil Kale to own GPS/AP integration

    • TODO: Someone to own telemetry overhaul

    • Shrinjay says liaise w Yashraj et al for FW/GND comms

  • @Shrinjay Mukherjee to own ground station overhaul

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