2024-08-07 Autonomy Meeting

Pathing

@Aaron Wang

• Integrate common MAVLink to pathing is now a milestone

  • Has been broken down into multiple sub-tasks

  • Added some documentation, need to add more visuals

  • @Tochi Okoro Rewriting modules

    • PR up, not yet reviewed

    • Should free up the upcoming tasks to of rewriting main pathing scripts

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

  • PR Merged

• @Chloe Yip QR listener

  • Testing ongoing (Need to test with mission planner)

• @Iris Mo Implement 2023 task 1

  • Dynamic pathing work, old path diversion algo does not (probably an issue with latlon, we’ll figure out)

• @Jane Zeng Run MAVLink from csv/text

  • PR Merged

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

  • Algorithm done for cartesian, need to convert to latlon

Airside

@Dylan Finlay

• Testing Geolocation this weekend if Houston works

• Need to keep thinking about new conops

• @Dahui Kang cluster estimation

  • Figuring out numbers for config file before submitting PR

• @Amy Hu Decision handling in flight interface

  • In the PR process rn. PR has been reviewed.

• @Mihir Gupta geolocation

  • Flight test coming up this weekend

• @Herman Gahra Decision worker

  • Going back and forth with PR’s rn

  • Looking to take on another task

• @Ashish Agrahari Graceful handling and notification of errors

  • PR is ready for review. Waiting on leads :/

• @Ashish Agrahari Research extending Ardupilot with ROS

  • Looking into it

  • Had to install new fresh ubuntu

• @Dylan Finlay Modify detect target to be configurable

  • Code updated with worker manager changes and other new fixes

  • Both configurations working

  • Just need to update unit tests for detect target

• @Dylan Finlay Write main_detect_target script

  • Script is ready with the classical cv configuration changes

  • Just need to fix/pass unit tests as mentioned above

• @Victor Terme research and implement classical CV method

  • Began looking at the existing code and seeing how to improve

ML

@Yash Gunturi Eshwara Vidya

• @Yash Gunturi Eshwara Vidya deployment on pi and camera

  • no updates

• @Ajai Chandi Train models with diff augs

  • Models trained in roboflow

LTE

@Maxwell Lou

• @Maxwell Lou Refactored socket code for TCP

  • waiting for review

IMACS

@Balaji Leninrajan

• @Sargun Singh Bhatti test serial connection

  • Deferred

• @Sargun Singh BhattiCreate widget terminal to execute scripts

  • In progress

• @Andrew Shum widget to add and queue waypoints

  • In progress, PR up but has weird bugs w/ tests

• @Ivy Ye Create Navbar

  • In progress

Obstacle Avoidance

@Andrew Shum

• Implementing obstacle avoidance starting at first waypoint of auto mission.

Python version update

@Maxwell Lou

• Look into upgrading the Autonomy system from Python 3.8 → Python 3.11 (since that is the new standard on the Rpi5)

• We will also need to update dronekit to pymavlink, hopefully this can be covered in the common flightinterface

  • (will need to coordinate with the pathing/airside integration of MAVLink tasks later on)

  • Possibly call this flightinterface2 and request updates later when it’s finished.

• Decision matrix for solutions is up

• Tested using dronekit’s github repo, it sort of works

  • Had to do some minor modifications to fix imports

  • Did not connect with mission planner, but otherwise seemed to work fine