Autonomous Landing (Competition)

Owned by Darren Jia
Last updated: 2022-10-14 by Michael Denissov
2 min read

Driver

Contributors

@Darren Jia @Elly Jade Yu @Michael Denissov @Sharan Udayachandiran @Chris Jiang

Informed

Objective

Get landing pad position from landing pad team and drone position from EFS, and do some math to figure out where we need to be in order to be on top of the landing pad, and tell EFS to go there.

Due date

Key outcomes

Work without crashing

Status

not started / in progress / complete

 

 Problem Statement

 

 Scope

Must have:

  • Figure out the ideal position above the landing pad

  • Tell EFS to move to that position

  • Communicate with EFS on drone position and landing pad on landing pad position.

  • Signal to EFS that the drone is centered above the landing pad

Must have:

  • Figure out the ideal position above the landing pad

  • Tell EFS to move to that position

  • Communicate with EFS on drone position and landing pad on landing pad position.

  • Signal to EFS that the drone is centered above the landing pad

Nice to have:

  • Real-time position corrections

  • Do corrections during final vertical descent

Not in scope:

  • Landing pad detection

  • Drone movement

  • Actually landing on the landing pad

 

 Plan for Implementation

 

  • Coordinate with EFS on their expectations

  • Create and detect mock landing pad for testing

  • Plan for the possibility of have a 3rd camera for auto landing/centering at range

  • Pass data to EFS to center drone over pad

  • Figure out how EFS(Flight software on STM32/Nucleo) and CV(Software on Jetson) communicate (Have a cv member be a communications liaison with EFS)

  • If drone is too high up to definitively center on landing pad, then CV autoland should descend until it is certain it is centered (10m)

System Flowchart!

 Milestones and deadlines

Milestone

Owner

Deadline

Status

Milestone

Owner

Deadline

Status

Initial System Flowchart

 

Oct 16th

 

Decide on Autolanding meeting dates

 

Oct 21st

 

Rudimentary/mock landing pad detection done

@Michael Denissov

Oct 21st

 

Figure out getting position data and sending position commands to flight software

 

Oct 21st

 

Research algorithm for geolocation above landing pad and create mock algorithm

 

Oct 24th

 

Final brainstorming/plan complete

 

Nov 1st

 

Mock drone can fully autonomously center over mock landing pad

 

Dec 1st

 

Initial development phase complete

 

Dec 1st

 

Final testing phase

 

Jan 1st

 

Autolanding/Centering complete and fully integrated

 

Mid-Jan

 

 

 

 Reference materials