2025-03-17 EFS Meeting

Splitting EFS work sessions to two sessions
- ZP [Saturday 3pm-6pm]
- Comp (CAN, Groundside, Tuning) [Sunday 3pm-6pm]
Our work sessions can get quite busy, so a quick reminder to always put back anything you use back where it belongs to help keep the bay tidy and organised !
An EFS board flew last flight test!! (6S CAN Servo Module)
- https://uofwaterloo-my.sharepoint.com/personal/uwarg_uwaterloo_ca/_layouts/15/stream.aspx?id=%2Fpersonal%2Fuwarg_uwaterloo_ca%2FDocuments%2FMedia%2F2025%2FMarch%20-%203%2F2025-03-14%20Flight%20Test%2F20250314_233753000_iOS.MOV

M1 Drivers @Ethan Leung

Message Queue @Dami Peng
- Pointers? Hopefully not an issue

Motor Channel (PWM) @Bill Lu
- Done!

RC Receiver @Chandise Anderson
- Was able to read SBUS from epdual without explosion

Watchdog @Ronald You
- Done, to be merged

SD Card @Ari Van Cruyningen
- Bit more testing with SPI
- SDMMC done

M2/3/4 Drivers

RFD900 @Aditya Bang @Shakthi Viviyn Mahesh
- Wrote preliminary code with circular buffer DMA
- Possible synch issue to be resolved

IMU + AHRS @Liam Suter @Richard Dong
- Will ask
- RIP Kelvin

GPS @Ria Prakash @Ronak Patel
- @Manasva Katyal to review

ZP Barometer Driver Port @Larry Shi
- Using I2C

CRSF @Uzayr Hussaini
- To be reached out

Attitude Manager @Ayoung Eun

1-to-1 Motor Output @Ayoung Eun
- Applied derek’s feedback, waiting to get the next direction.
- Derek to add more

Failsafe @Raiyan Samin
- Contemplated
- Will implement based on sm queue empty for over 5/10s

Arm / Disarm @Raiyan Samin
- Disarm should just disable throttle

Telemetry Manager @Charan Tadepalli @Sehaj Dhupia @Rashad Jayshanth-Nizar

TX side:
- Rewrote some old TM code,
- decided how to get data from other systems,
- need to finish main function in TM based based on design
Derek to think abt circular buffer

System Manager

Unit tests pending @Andy Li
Set up gtest, installed cmake
To begin implementation on unit tests for SM

Battery Manager @Yuvraj Singh Birdi @Sydney Yang

Wrote some code establishing the basic architecture and logic
Waiting to see how to achieve communication with other managers to execute certain tasks like
- auto landing
- led blinking
- telemetry for ground station, etc.
Send a logging
Setting up the driver interface

Infrastructure @Andy Li

Unit tests
GH actions to be looked into

ZP Board Validation @Ari Van Cruyningen

Repo made on GH with everything pushed

Telemetry Manager SIL @Eric Su @Ben Carnes @Eric Yoon

Figuring out architecture and the parts they have to interact with
Started a repo for the “mock” SIL driver

CAN Adoption @Ronak Patel + @Colin Wang @Matias Rivas @Joanna Sebastiampillai

Setup project/architecture Sunday, will start implementing now
Converting canard to L5 boards @Ronak Patel
Dynamic node allocation @Colin Wang @Matias Rivas
Parsing nodeStatus messages from peripherals @Joanna Sebastiampillai
Communication messages between nodes @Ronak Patel

ZP Path Manager Porting @Emma Lane-Smith

Called @Ayoung Eun on Sunday for background info/context on the path manager
Looked through resources on ZP background info and path manager code
Hoping to stop by the bay on Wednesday to ask questions and officially get started

LED Board @Nick Armstrong@Tochi Okoro @Billy Karantzoulis @Fola Fatola

Working on integration of all project components
Billy has written a script to output the drone state over the can bus from Ardupilot, pending testing and double checking dronecan encoding
Tochi wrapping up custom packets
Planning an architectural call with Fola

Servo @Hardy Yu @Allan Su @Ethan Leung

Tested with Manasva and found that the servo is working but the node ID does not show up in Mission Planner. (Sorry Manasva I wasn’t able to make it to the work session yesterday). I am currently looking into the 6s servo code as that one seems to work and display a proper node ID in Mission Planner and trying to figure out what's different.

6s Power Module @Bryan Ma@Aditya Sharma @Andrew Wang

Updated the confluence docs
@Aditya Sharma came in work session to test and board was overheating
Were able to receive over I2C

Baud Rate Auto Sensing @Teighan Miller

Tested the program, it couldn’t detect the baud rate.
Going try reading the specific CAN messages instead of just checking they exist. Hoping to test at this week's work session.

Sensor Cluster

Barometer
- Waiting on EE board
IMU
- Waiting on EE board
Lidar @Aidan Fisher
- Fixed comments from PR review
Magnetometer @Henry Wu
- Working on merging into main branch, set up uavcan nodes and message functions. Set up pins for connections.
PixArt OFS
- Waiting on EE board
Radar @Henry Wu
- Committed spi select function and removal of busy waiting.

ZP CAN Bootloader @Larry Pan @Spiro Jinargyros @Thuvaragan Prathifkumar

Doing research and trying to flash LED from bootloader and the application
Will get a board to talk to another board next, then starting doing proper ota updates

Tracking Antenna @Larry Pan

No updates this week
Unsure about next steps

Pegasus Tuning @Manasva Katyal

Started the process at the last flight test
Did manual PID baseline settings based on prop/weight performance curves
Performed manual step based PID tuning at the flight test
Finally was able to run an Autotune and produce a tune much better than the original on Peggy 2
- Allows Task 2 for comp to be flown with much higher confidence
Next steps:
- FFT Notch filter tuning [next flight test]
- MAGFit [next flight test]
- Throttle controller tuning [future]
- Position controller tuning [future]