UART

Jetson side

UART Port: /dev/ttyTHS2

1. Test the carrier transmit pin

   1. Connect the transmit pin to USBTTL attached to a laptop

   2. Send data/bytes from Jetson to laptop

   3. Confirm whether data is received by laptop

2. Test the carrier receive pin

   1. Connect the receive pin to USBTTL attached to a laptop

   2. Send data/bytes from LAPTOP to Jetson

   3. 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

•  

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

  • nice: How to Set Process Priorities With nice and renice on Linux

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