2024-11-29 Autonomy Meeting

Pathing

@Jane Zeng

• Circle mode ?

• @Achita Anantachina is working on KML generation, should be up soon

  • Tests for ensuring competition style valid

  • Can this be done - deadline Dec 7, 2024

• Path generation PR, Jane will review

• Water search - PR is up, Jane will review today

• @Evan Zhao move log parsing to post processing

• Ground station recieve message task

• Set a convention on first byte being what worker this came from, @Daniel Akira Suzuki to change common library for a enum

Airside

@Ashish Agrahari

• Communications worker

  • @Daniel Wang merged

• @John Zhang ground communication using FTP

  • Good progress

• @Lucas Liao Perhaps send STATUSTEXT messages on camera startup and bootup

  • Found fix!

  • Flight controller new function - send status text

  • New flight controller queue that takes in all status text messages that the other workers want to send

• @Siddh Patel New detect target class for IR detection

  • PR is up, almost merged

  • New task - move configs out to config.yml

• @Aleksa Misic Cluster estimation clustering by labels

  • Progress?

• @Daniel Akira Suzuki Data encoding

  • PR reviewed

Other Tasks:

• @Achita Anantachina Classical CV method tests

  • PR up! Has to rebase though

• @Shahvir Wahab Testing ROS with ardupilot

  • ?

• @Tochi Okoro Auto landing module (for task 2)

  • Will start soon, has been unwell

• @Andrew Wan @Arjun Sodhi Rudimentary geolocation

  • Almost done

• @Bruce wang Do edge detection of water bucket for task 2

  • In progress, getting an understanding

• @Leonardo Zhou Detect white

  • Detect white spots in an image

• @Catherine Jin Image filtering function: put in detect target module

ML

@Vibhinn Gautam

• No notes as of now.

IMACS

@Balaji Leninrajan

• PRs for

  • Create widget for camera (Reviewed)

  • Implement UI to change address and port (reviews in progress - will hopefully review soon)

  • Create RTL (Changed pushed, will review soon)

• All other tasks in progress

Obstacle Avoidance

@Vyomm Khanna

• Refined new decision module for vfh output, adding flightmode and nextwaypoint as params for thorough obstacle-avoidance

• created integration tests for lidar_parsing, fixed minor issues in test-cases, should be ready to merge.

  • adjusting flight_interface and creating a new OdometryandWaypoint data struct (using common’s Orientation and PositionLocal structs) as old versions redundant due to changes in common, so that VFHDecision can access position, orientation, mode and waypoints dynamically in queue.

• wrapping up integration tests for vfh, looking into the exact commands VFHDecision should output (currently just steering_angle)

IR Camera + detection

@Vibhinn Gautam

• Testing requests for new IR Camera - when they come in we would like to ideally test them out. This will be a task but assigning it in this meeting is optional.

• Camera driver @Alex Liu

  • Merged

  • Task - export camera configs to yml (as a parameter for common, also needs to be implemented in airside)