2022 - 03 - 15 (Tuesday March 15, 2022)
- Anthony Luo
General Team Status Overview (includes other subteams):
Flight for zeropilot target by end of this week.
Tentative plan is to fly using ZP (ZP 2.0 will not be ready).
Integration test with CV in the coming week regarding FW-CV Comms
firmware side tested as much as possible without TTL Cable
TTL Cable just came in!
Board failing to initialize clock properly.
to test with CV team.
BMX160 driver has had some issues. We will be moving people around to help out with this.
Plan A: Get BMX160 working (will need help from @Aidan Bowers (Deactivated) over weekend)
Plan B: Use MPU6050 with filtering
Plan C: Get BMX160 or other data over interchip
Plan D - fly using minipix/pixhawk
PR’s and Reviews
https://github.com/UWARG/ZeroPilot-SW/pull/157 ← On hold for now.
Header file for VN300 by kgrewal26 · Pull Request #168 · UWARG/ZeroPilot-SW (github.com)
PLUS MORE?
Dshot by Chrisc110 · Pull Request #167 · UWARG/ZeroPilot-SW (github.com)
Updates!
(Updates here → see table of contents for structure)
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!
Attendance:
Team Member Updates
Anni
Working on IMU Driver and SD card issues.
IMU not verified :(((.
To try
confirm i2c waveform/triggering (maybe I just messed something up).
Try using SPI
Will continue working on MPU6050 tuning for now (starting asap).
Aidan
Tested DSHOT. Got motors to spin!
Having issues with the transmitter. Getting hardfaults whenever receiver is connected to PPM and garbage values if ppm is connected after setup
Chris
Possible to run comp on DSHOT
Talking to Steven about DMA for Interchip
Re: interchip, more speedier more faster. Pls expedite.
IMU Contingency plan is to send data over interchip….
Ready by early april / end of march?
TODO: documentation for DMA. DSHOT documentation exists (D-Shot Protocol - ZeroPilot - WARG (atlassian.net))
Gordon
Confirmed good to go.
Written out document which should integrate well.
Expected timeline depends on PM restructure?
Dhruv
to test out utrasonic driver
Kaveet
Working on VN driver.
Last thing is to fix build issues w/exceptions and setup UART connection between the two.
follow up after meeting.
VN Libraries are ready (to test).
Manav
working on PM restructure.
Last update deleting unnecessary takeoff/landing stages (merging them together)
Meeting again Wed 16, PR ready by EOW
Neha
Thoughts on having a home waypoint?
makes sense in general.
suggestion: path of least resistance.
ALSO: thoughts on having a soft failsafe mode in AM?
Todo: threat/risk matrix., add features such as:
soft landing // return to home and land // limit flight speed
Steven
getting back into interchip task, looking at DMA.
Will need to go into bay to use scopes soon.
Tony
TTL Cable
Firmware side of comms works.
keep an eye out on interrupt, make sure it doesn’t stall anything.
need to test with cv
air-ground
fw-cv comms jetson this weekend (depends on ray)
Yashraj
working on timeout so it doesn’t stall interrupt.
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.
Name | GitHub Username | |
|---|---|---|
Aidan Bowers | Aidan-B | abowers@uwaterloo.ca |
Anthony Luo | antholuo | a26luo@uwaterloo.ca |
Yashraj Nagpal | YashrajN | y2nagpal@uwaterloo.ca |
Christopher Chung | Chrisc110 | tps90067@gmail.com |
Kaveet Grewal | kgrewal26 | kaveetgrewal@gmail.com |
Manav Patel | manav2002 | pmanav2002@gmail.com |
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