Discussion topics

(anything firmware-team-wide that you want to discuss)

• Gimbal confirmed working

• Would you guys like to keep the triangular git workflow or move to consolidated WARG Repo?

• Allocation of Resources → what pins are we using on the board?

  • Need to delegate pins that will be used sooner rather than later.

  • Will be more relevant once we port from H7 to F7.

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PR’s and Reviews

• Review Aidan’s Github PR Checklist PR (the PR for the PR ): https://github.com/UWARG/ZeroPilot-SW/pull/160

• PR’s for AM are up (Dhruv): https://github.com/UWARG/ZeroPilot-SW/pull/162

• XBee’s PR is up (Aadi): https://github.com/UWARG/ZeroPilot-SW/pull/161

• PM Restructure PR is up (Steven): https://github.com/UWARG/ZeroPilot-SW/pull/157

In Person:

• In Person Testing Continues:

  • PID’s, PPM over radio, ETC

  • Verification of IMU driver?

Updates!

(Your own updates)

Attendance:

Open

Team Member Updates

• Anthony:

  • Attempting to reach out to vectornav for driver libraries.

  • Working on drafts for Acro Mode control (simple testing).

  • Investigating property similar to AirMode → allows software variant throttle control?

• Aadi

  • Comms is working! PR is up

  • Only works in one direction (which is what is required)

  • Want to work on V2 for Comms

  • Will require required timeline on Interchip

  • Can write up a new test program for Autopilot

• Aidan

  • Been looking at trying to get IMU attached to Safety, make sure it works

  • Trying to get VectorNav hooked up when Anthony has drivers (in case MPU 6050 drivers don’t work)

  • Helped Chris with implementation DShot

• Chris

  • Working on DShot implementation, discussed with Aidan regarding how the interface will work

  • Paused on the DMA portion of the task, researched how DMA works

  • Made class, some generic functions to make it work (implementation to be done)

  • Timeline - Can be done in terms of code in two weeks

• Dhruv

  • AM compiles on safety side

  • Put a few unit tests → make sure faults and stuff are ironed out.

  • F7 to H7 port?

    • should be good to change IMU name in IOC directly.

    • F7 and H7 are pin to pin compatible. (see : https://www.st.com/resource/en/application_note/an5293-migration-guide-from-stm32f7-series-and-stm32h743753-line-to-stm32h7a37b3-and-stm32h7b0-value-line-devices-stmicroelectronics.pdf )

  • Huge thanks to tony

  • EE assembling boards

• Gordon

  • takeoff and landing → mostly matrix math.

  • Takes in set maximum velocity, approach velocity → plots them out with regards to height difference

  • Plan is to repeatedly set waypoints and modulate airspeed as it travels between two points

  • Going to verify new PM restructure and make plan on how to implement into state machine

• Kaveet

  • Spent past week looking into Vectornav datasheet

  • Looked into different formats to get GPS values from

  • Found whole GPS driver online

  • Wrote out a rough implementation plan, spoke to Anni after meeting

• Neha

  • Started initializing waypoints, defining hover based on fixed-wing or multicopter

  • Check with CV on how hover data is being sent

  • Math for staying at a hover point

  • Going to restructure around

• Tony

  • Done AM tasks for now, looking for new task to work on

  • Assigned Arm/Disarm task on AM, to ensure that drone doesn’t turn off as long as disarm state is on

• Abhi

  • Got link to join Discord from Gordon, would like to join team

  • Will discuss bootcamp with others after meeting

Git Workflow Discussion

• Gordon - done at his work, good to see what others are working on as well

  • Makes it easier to avoid merge conflicts, things are simpler

• Anni - Would still PR into devel and master, PR your current working branches into main repo

  • PR your fork’s branch into main repo’s branch of the same name

• Suggest - take 5-10 minutes, make PR of your working branch into main repo

• Leave email and Github username at the bottom

Absent Updates

• Nixon: no updates

Current Task Distribution

Things to look out for!

• Multiple PR’s up over coming week.

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GITHUB RESTRUCTURE