Discussion topics

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

• You should all be part of the ZP firmware team now!?

• EVERYBODY SHOULD TAKE A CHANCE TO REVIEW THE PR’S

PR’s and Reviews

• https://github.com/UWARG/ZeroPilot-SW/pull/165

  • https://github.com/UWARG/ZeroPilot-SW/pull/161

• https://github.com/UWARG/ZeroPilot-SW/pull/157 ← On hold for now.

• added IMU driver for BMX160 9 axis by upadhyaydhruv · Pull Request #170 · UWARG/ZeroPilot-SW (github.com)

• Header file for VN300 by kgrewal26 · Pull Request #168 · UWARG/ZeroPilot-SW (github.com)

• Dshot by Chrisc110 · Pull Request #167 · UWARG/ZeroPilot-SW (github.com)

In Person:

• Saturday / Sunday 9AM - 11AM.

  • Let us know in advance when you plan to come in so that we’ll be there. If nobody says anything in #firmware-onsite nobody will be there.

• Other workdays possible Monday/Thursday/Friday evenings. Let us know!

Updates!

(Updates here → see table of contents for structure)

Attendance:

Open

Team Member Updates

Anni

• Working on IMU Driver and SD card issues.

• Currently getting regressed build issues? (was working fine yesterday).

• Target is to have IMU verified by Saturday

Aadi

• No Updates

• Can’t do further XBee testing since doesn’t have a working Autopilot board

Aidan

• Flight test occurred yesterday, went very well

• Quite stable, lots of wind but drone survived quite well

• Was in the air for over 18 minutes

• DShot tested, looks good on scope!

  • Channel 1 good data, 2-4? → see chris

  • Loaned motor + esc

Chris Chung

• Updated DShot documentation

• Aidan’s been doing some testing of the DShot code

• Issues with some channels acting odd with DShot and DMA

Dhruv

• Grinded out IMU driver

• integrates into our current safety architecture

• bmx160 better since it is 9 axis! accounts for drift better.

Gordon

• New takeoff and landing profile based on waypoints and altitude up on Confluence.

• Implementation is planned based on current waypoint system. New code will be added once the Path Manager updates are merged in.

• bump switch on feet? Ultrasonic?

  • make sure it’s held down for a few seconds before completing.

Kaveet

• Still working on vectornav

• blocked by exception issue (post screenshot pls)

• draft pr w/actual code soon? (link pls)

Manav

• Working on PM restructure

• Linked with Neha

• Has some questions regarding implementation for PM restructure

Neha

• redid pm-tm and pm-am structs

• redifined what a waypoint would be?

• restructuring waypoint manager.

• && question about takeoff/landing stages

  • on minipix: arm switch on minipx, and then pilot has control.

• Confluence page up! (link pls)

• target: tested by early april

Tony

• Tested TM and FW-CV Comms on the firmware side of things as much as possible without TTL boards

• Discovered issue with ZP board failing to initialize clock, changed some timer settings

• The firmware seems to work, will do more validation with TTL Cable (Cable with Anni)

• Still need to do actual test with CV people

• Loopback test

  • interrupt / detecting start of message work?

  • in order to receive rest of message polls? impossible to do loopback with poll…can only do one thing at a time? Can’t send and receive.

• linkup with CV on Sat/Sun?

Yashraj

• Working with Tony on testing

• Loopback doesn’t work w/polling.

• TM manager up. Ready for reviews

Absent Updates

Current Task Distribution

Things to look out for!

• Flight by eow 2 march.

GITHUB RESTRUCTURE

Please leave info below so we can add you to zeropilot team.