2024-07-02 Autonomy Director Sync

Intro

• Past Sync2024-06-06 Autonomy Director Sync

• what progress has been made in the last month?

  • airside lots of progress

  • geolocation testing in progress, seems to be working, FT soon

  • cluster estimation making progress

  • decision module, unassigned

• what do you and your team want to achieve in the next month?

  • geolocation testing and integration completed

  • cluster estimation ground test

  • decision module ready (not integrated yet)

• what roadblocks do you need help clearing to make this happen?

  • no big roadblocks

  • need to mount CV camera to Houston

  • RPi 5 mounted last time

Testing auto-landing by detecting a pad and landing on it with the model

• This is still target for end of term

• This requires cluster estimation, geolocation, & decision module

Autonomy socials, wait till fall term

Sitedness

• Tong & Aaron not onsite next term

• Maxwell will be onsite

MEF

• items are in, need project descriptions

• try to bring other members, there seems to be interest in this

Geolocation

• Geolocation is used for landing

• The pad landing is relative to the home position

• Position of pad relative to the drone

• Might need to change architecture coordinate system wise?

• We want to be able to land on a pad end goal

  • we have an MVP script that does this

Cluster Estimation

• geolocaiton gives points in a scatterplot

• cluster estimation determines which points are a single pad

• integration is required

• not required to test geolocation

• ground test end of month

Decision Module

• logic to make the autoland task happen

IMACS

• in middle of big refactor

• works with missionplanner

• trying to get working with serial

• showcase-able thing for end of term

Pathing

• pathing code uses dronekit right now, we can’t have two instances at once connecting

• auto-landing and pathing can share dronekit instance

• lots of refactoring to make this happen

• trying to implement 2023 pathing requirement with the current repo

• all pathing repo does it send locations and land command

• why not combine auto-landing and pathing into a single python app?

  • that’s the goal of this refactor

RPi failsafe mechanism

• software mechanism in addition to the hardware?

• set variable in pixhawk could be implemented?