Embedded Flight Software 2023-2024 Goals
Comp Projects
Simple System Manager
Tracking Antenna
Related Drivers
Non-Comp Projects
Fixed wing Zeropilot flight
Quad Zeropilot flight
Related Drivers
Simulator
Task: Tracking Antenna
end goal : Take MAVLink and point antenna @ drone
Priorities
PID algorithm
Testing & Integration.
integration painers
Not enough background to hit the ground running.
Milestones / Check-INs
Goals:
Yaw only, stretch fully complete by end of term.
Test what we can test.
Task ZP3.5: To simplify in an effort to get something flying
end goal : something is flying
Priorities
All Comp Projects
Simplification of ZP and LOS
Adhering to milestones
Flight tests
Teaching new/current members COTS solutions
integration painers
integrated with Autonomy on SimpleSystemManager
require hardware/mech support for fixed wing drones, tracking antenna.
A lot of people think that checking in code is done, not enough testing.
Milestones / Check-INs
Fixed wing manual (stick input to servo/motor output)
PPM or SBUS input
PWM output
Arm/Disarm
RSSI or Watchdog
Fly with Logging and Telemetry
Basic Telemetry Manager (works with MAVLink Mission planner)
RFD900 drivers
SD driver
Fixed wing Fly By Wire A (stick inputs map to pitch and roll angles, others are same as acro)
Sensor Fusion with AHRS
IMU
Introduction to Atitude Manager
Telemetry Manager PID value upload
Fixed wing Fly By Wire B (same as fbwa but will hold altitude)
Additions to Attitude Manager
GPS driver
Altimeter as alternative to GPS
Airspeed
Fixed wing cruise (hold ground track (wind compensation)
Further additions to attitude manager
Fixed Wing Auto Take Off
Path manager auto take off
Fixed Wing Full Auto
Telemetry Manager
Return to home
waypoints/flight plan
hover
Fixed Wing Auto Landing
Path Manager auto landing
Telemetry Manager Land command
Â
Quad Milestones
Quad Acro
target pitch yaw roll rates
quad stabilize
auto leveling
target pitch/roll angles
https://ardupilot.org/copter/docs/stabilize-mode.html#stabilize-mode
quad alt hold
quad loiter
Quad auto take off
Quad auto landing
Quad auto flight
Â
Quad development/testing starts after fixed wing milestone 3 has been achieved
Â
Â
Milestones
Spring 2023
Simple system manager
Tracking Antenna
Fixed wing milestone 1 and 2
Fall 2023
Winter 2024
Â