2024-07-10 Autonomy Meeting

 Date

Jul 10, 2024

 Participants

  • @Dylan Finlay

  • @Tong Zhang

  • @Aaron Wang

  • @Balaji Leninrajan

  • @Ashish Agrahari

  • @Sargun Singh Bhatti

  • @Herman Gahra

  • @Tochi Okoro

  • @Jane Zeng

  • @Yue Yang

Announcements

 Discussion topics

Project

PM

Notes

Project

PM

Notes

Pathing

@Aaron Wang

  • Integrate common MAVLink to pathing is now a milestone

    • Has been broken down into multiple sub-tasks

  • @Quan Le has been assigned to creating upload command function in FlightController

  • @Chloe Yip QR listener

    • Testing ongoing

  • @Iris Mo Implement 2023 task 1

    • Git issue resolved and bug fixes, still ongoing testing

  • @Jane Zeng Run MAVLink from csv/text

    • PR is up, @Aaron Wang have to review it still

  • @Matthew Riley assigned to task to create algorithm for inflating a bounded region

Airside

@Dylan Finlay

  • Geolocation flight tested - not accurate enough for landing

  • New architecture for Auto-landing

  • Set up Pi 5 - add usage documentation

  • @Dahui Kang cluster estimation

    • Code ready

    • Currently blocked by worker management changes

  • @Amy Hu Decision handling in flight interface

    • finished the code but gotta get it from computer at home

  • @Mihir Gupta geolocation

    • Put up a PR to keep the config.yaml configured to the specifications of the Raspberry Pi 5

    • Put up the PR to add logging to geolocation

    • Write documentation on geolocation, how to take measurements for the config.yaml file for geolocation, and how to set up the autonomy software on the drone.

  • @Herman Gahra Decision worker

    • PR is up, waiting for review

  • @Ashish Agrahari Graceful handling and notification of errors

    • Blocked by Move Worker Management

  • @Ashish Agrahari Move Worker Management

    • PR in review process

    • Unblocked by logging issues now

  • @Ashish Agrahari Research extending Ardupilot with ROS

    • Looking into it

  • @Dylan Finlay Modify detect target to be configurable

    • Got both ML model and classical cv method working and configurable

    • Waiting on move worker management to adjust main_2024 and then make PR

  • @Dylan Finlay Write main_detect_target script

    • Script is ready with the classical cv configuration changes

    • Waiting on worker management pr

ML

@Yash Gunturi Eshwara Vidya

  • @Yash Gunturi Eshwara Vidya deployment on pi and camera

    • Waiting on model to be assessed

  • @Dahui Kang research GNN

    • Will do after finishing airside task

  • @Pranav Bommireddipalli assess model

    • Reassigned to @Yue Yang

      • Done

LTE

@Maxwell Lou

  • @Maxwell Lou Refactored socket code for TCP

    • Fixed unit tests

    • Added tests for UDP as well

IMACS

@Balaji Leninrajan

  • @Tochi Okoro listener for airside logs

    • Waiting for airside to finalized, enough work done for testing

  • @Tochi Okoro widget to display logs

    • PR up, should be merged soon

  • @Sargun Singh Bhatti test serial connection

    • In progress, partially tested and working

  • @Sargun Singh Bhatti Log messages to terminal

    • PR up

  • @Andrew Shum widget to add and queue waypoints

    • In progress

  • @Ivy Ye Move SteamControllers and _parseMavlinkMessage from mavlink_communication.dart to get_drone_information.dart

    • No updates

Obstacle Avoidance

@Andrew Shum

  • Tested simple stopping - working on debugging

  • Working on researching path deflection

 Action items

@Yash Gunturi Eshwara Vidya to schedule work session to deploy ML model on the Pi this week

 Decisions