2025-03-06 Autonomy meeting

Pathing

@Balaji Leninrajan @Evan Zhao

• @Evan Zhao Finding water route PR under review – but more scrutiny is also needed for double-checking validity of algorithm after realizing a test case was wrong – Evan

• Path_2025_task_1.py should be done by next meeting

• Slight issue with flight controller migration, not major but will take some time

• Circle mode is still being researched

Airside

@Achita Anantachina @Herman Gahra

• @Aleksa Misic cluster estimation by labels

  • Waiting review

• @Rohan Katreddy Integration test for cluster estimation

  • merged

  • To be run at ground test

• @Tochi Okoro Autolanding module + worker

  • merged

• @John Zhang MAVLink FTP

  • PR is updated

  • @Evan Zhao Unit test from logs_to_kml failing

    • Ignore this for now

• @Adrian Lock Communication unit test

  • Merged

• @Siddh Patel profile performance

  • @Achita Anantachina to review

  • Almost done

• @Victor Huang Min brightness filter

  • Still have a min brightness filter (just at a lower threshold)

  • Implement the drop-off filter → Help reduce false detections (anything under dropoff gets cut)

• @Yibo Yang Cluster estimation – filter by number of points in cluster

  • To be reviewed

• @Achita Anantachina Classical CV test cases

  • To be reviewed

  • Follow up with Xierumeng

• @Arpan Roy show annotated picture bug fix

  •  

MAVLink update:

• STATUSTEXT messages have strings as input (null terminated), so we cannot send the byte “0”

• Try these 3 other messages, and see if they get forwarded from flight controller (pixhawk/simulator) to ground station: https://mavlink.io/en/messages/common.html

  • DEBUG_VECT (250)

  • NAMED_VALUE_FLOAT (251)

  • NAMED_VALUE_INT (252)

• Workaround for now: base64 encoding around current bytes to have it fit in a string representation

IMACS

@Vibhinn Gautam

• @Tochi Okoro SITL controller

  • Solid progress. Need to write test harness and cases.

• @Alex Liu Updates?

  • To follow up: new library for camera and writing tests

• @Andrew Wan add waypoints to queue

  • Almost complete, testing in progress

• @Hasan Baig Map widget

  • Little progress this week expected. Will ask for updates.

• @Leonardo Zhou no updates so far. Might need to re-assign.

• side note: documentation (partially) updated. need to organize into one place to make access easier.

Obstacle Avoidance

@Vyomm Khanna

• @Vyomm Khanna Old PRs closed yet?

• Working on final unit + integration tests for VFHDecision that were blocked by the merge

• @Honzik Schenk VFHDecision output to MAVLink command

  • Questions to follow up with @Vyomm Khanna

IR Camera + detection

• @Rohan Katreddy Create a new option for camera in common?

  • Busy with other tasks

ML

Multiple people work on these, top priority (lots of images!)

• Picutre pruning

• parameter tuning for brightness detection

• @Vibhinn Gautam @Allen Lian @Matias Rivas