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 |
---|---|
Quick Links:
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.
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)
VN-300 (Tony)
Barebones L5 project able to receiving expected uart messages from VN
VN does not seem to be responding to input from L5?
Neo M.8 (Ayoung, Hardy)
LOS_Driver testing, run into assembly infinite loop when trying to create the object in SMOperationTask()?
airspeed (Hardy, Ayoung)
Airspeed driver tested on Saturday, the calculated airspeed varies from 2 to 3 times larger than the car’s speed. Need to fix the math again…
SD Card (Darwin)
Mavlink? (Tony/Alex)
See Zp ardu integration section
RFD900? (Los Telem/Comms team)
See Telemetry manager section
Jetson? (Los Telem/Comms team)
See Telemetry manager section
Current/Voltage Sense (Aryan)
Needs testing.
CRSF (Hailey)
Making progress on CRSF documentation. Should be done in the next 2-3 days.
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