2023-08-23 Airside System Meeting
UART
Jetson side
UART Port: /dev/ttyTHS2
Test the carrier transmit pin
Connect the transmit pin to USBTTL attached to a laptop
Send data/bytes from Jetson to laptop
Confirm whether data is received by laptop
Test the carrier receive pin
Connect the receive pin to USBTTL attached to a laptop
Send data/bytes from LAPTOP to Jetson
Confirm whether data is received by Jetson
Troubleshooting:
Try sudo if it does not work
Can also contact Connect Tech (use WARG email)
Alternative: Use port 0: /dev/ttyS0
SAVE CONFIGURATION FILES BEFORE MODIFYING (e.g. copy as [config file name]-old)
Flight controller side
Connect laptop with USBTTL to flight controller and confirm that we can send and receive MAVLink messages (e.g. Mission Planner, Dronekit-Python).
Worker
Flight controller worker
High priority, blocks all flight tests beyond object detection (i.e. geolocation worker and beyond).
Cluster
Structural review only, needs more thorough review when ready.
How to incorporate confidence?
Controller worker
Pick a landing pad:
Lowest variance?
Closest?
Both?
Drone travels to landing pad at search height, hovers, initiates automatic landing.
No landing pad
Search pattern:
Spiral
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Train model
Camera in good state.
Data collection, cleaning, and training again woot!
Drone integration tests
Create main_2024.py
Ready for ground and flight:
Geolocation
Systems
Cruise
Competition area level (multiple waypoints)
Pathing
Airside system may or may not be active
Paused with worker_controller.WorkerController
Search
Waypoint level (multiple landing pads)
Start airside system
Pick 1 of possibly many landing pads to land at
Search for landing pad if there are none
Landing
Landing pad level (single landing pad)
Loop:
Record location
Check if landing pad exists
True: Descend n metres keeping landing pad in centre of image (reverse geolocation)
False:
Check how many times gone back:
>3: Abort
Else: Go back to previous location (ascend)
LTE on Jetson
Resource use fine:
Lower airside system priority and/or raise LTE program priority
How does LTE connect to Jetson in software? Is it as simple as sending/receiving data on a serial port?
Contention for UART port:
UART can only be used by 1 program at a time
Must write program to send/receive data for both LTE and airside system
Others must figure out how to interface with this program
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