Tuesday Feb 14, 2023

General Team Status/Schedule (inc. other subteams):

  • Meeting times/

    • EFS Meeting: Tuesday 7-8 PM

    • General: Thursdays 8-9 PM

    • EFS Work Sessions: Tuesdays 8-9PM

  • W23 Buy list → keep an eye out for packages

  • Merch! Please send your money to hamza!

  • Icarus timeline review tonight 9-10 pm, feel free to join!

  • Frosted Flakes RCA 9:45-??, feel free to join!

  • Discord roles may be messed up - please double check & ping if necessary.

  • Not official yet but we (may) be looking for a sysint lead & EFS leads. More information to come.

Attendance

In Person

Online

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  •  

Meeting recording

(posted after meeting)

 

PR’s and Reviews

Pls look at PM PR - https://github.com/UWARG/ZeroPilot-SW-3/pull/25

@Yuchen Lin to put in PPM output stuff

@Alex Yang to put in PPM output Driver

@Stanley Tang to put in MAVLink stuff

@Hardy Yu @Ayoung Eun to put in NEO M.8 Stuff

@Aaditya Chaudhary to put TM stuff (if ready)

Post-Meeting Micro-Arch/Timeline Reviews Today:

  • none as of right now

STUCK!

 

Priorities & Action Items:

← schedule for this weekend →

Updates this week!

(We moved to asana)

ZeroPilot 3

Jetson-ZP-Ardupilot Integration (Stanley, Alex, Navya, Ayoung)

  • needs mavlink messages to be defined

    • have been defined, will be implemented

  • Stanley & Alex working on driver in LOS

    • Stanley Mavlink

      • new los_mav interface

    • Alex PPM Output, Controller decoding

  • Ayoung to handle in-person testing

    • MAVLink & PPM

  • Navya handling decoding & re-encoding of Airside CV commands from Jetson

  • Gordon working on RC to PX commands using LOS_Mav

  • Alex working on creating PPM interface & output driver w/ control handover logic.

  • Stanley working on mavlink driver.

    • Created prototype driver that can send/receive heartbeats between ZP and AP. Needs to be tested.

    • Created test branch on ZP (probably need to move this to the comp repo actually)

    • Need to add more functions such as setting different flight modes, take off, arm/disarm, etc

  • Integration timeline for:

    • testing ppm: as soon as we get the px6 setup

    • testing ppm / ap handoff

    • testing auto takeoff/landing w/mavlink commands: as soon as ppm verified

    • testing groundstation command sequencing & autonomous flight: Feb 11/12, as soon as IMACS verified.

  • Mission Commands — Plane documentation (ardupilot.org)

System Manager (Gordon, Stanley)

  • Gordon: Pared down code for comp, set up code framework for RC to PX controls

    • Looking for LOS_D_MAV interface documentation (what functions can I use and how)

    • Groundside and Jetson sound not yet ready, so TM ↔︎ SM comms not in yet

Path Manager (Neha, Liang)

  • Synced with Liang → will start waypoint following implementation

  • Opened PR for PM Landing/Takeoff + comms with SM implementation (Pls review so i can finally have some happiness)

Attitude Manager (Ishman, Armaan)

  • (unable to attend today)

  • Got build to work, need to start testing i/o devices using debugger

Telemetry Manager (aadi)

  • CV side of RFD driver merged in WARG common, new repo that contains common code… same driver for air and ground side.

  • Having sync tomorrow

  • LOS_Comms: got interrupts working, need to follow los interface pattern.

    • Plan to finish writing and testing tomorrow

LOS

Interface

  • LOS POS (Mostafa)

    • BMX160 working with SF on a thread (needs the other sensors to fully work)

      • Freq set to 800 hz (need to double check on a scope)

    • Began integrating GPS into LOS Pos (Hardy & Ayoung)

  • LOS Link

    • No update, merged.

  • LOS Actuators

    • DSHOT still running into DMA freeRTOS issue, same as Aadi.

  • LOS Telem/comms (aadi, yuchen, hailey, alex)

    • Look at Telemetry Manager Update

  • LOS_Log + LOS_Storage (Darwin )

    • Architecture of Log + Storage was sketched out after last tuesday meeting

    • Nothing since then

    • Formalize diagram then starting on coding. End of Feb timeline still appropriate.

Drivers (lets try and get names added soon)

Systems Tooling & Infra

Infra + Devops

  • @Derek Tang

Simulator (SIL) (Mostafa, Alex, Taim, ???)

  • reached out to aidan’s prof (hopefully we can get some mentorship)

HIL (Hardware In the Loop) Controller (Yuchen, Mahir)

  • Will try to finish the PPM driver by tn and figure out how to log the data

Tracking Antenna (Rahul, Egor, Yuchen)

  • Microarchitecture Doc mostly complete

  • Mechanical and EE Requiremens Report Complete

    • Merging into higher level document still needs to be done

🎡List of Open Tasks

In no particular order, most of these on asana:

  • HereFlow CAN Based optical flow sensor

  • Bidir DShot

  • USB Logging

  • LOS Link with CRSF SBUS

  • Add IOC configuration on Main ZP

  • Peripheral distrib. For L5 & ZP3 COMP spec.

  • MPU 6050 Support

  • Old Analog Airspeed Sensor Support

  • US100 Rangefinder Support.

  • Lidar rangefinder support (unspecced as of now)

  • Instrument Based Vision Denied Landing

  • Vision Based Auto-Land

  • Gimbal Stabilization Software

  • Phased array beamforming antennas (please don’t do this unless you’re really really sure of what you’re doing and can prove it in matlab & simulation & are capable of fronting some $)

  • LOS_Xbee driver

  • Custom ELRS receiver

  • Custom HD0 receivers

  • Firmware for BLDC motor controller

  • Battery/flight time estimator (again, don’t take this unless you really know what you’re doing).

  • Obstacle avoidance?

Bootcamper Assigns

Nehemiah → firmware for BLDC motor (eval kit?)

Sava → airspeed

Vishal → mpu6050

Alyzen → Xbees