2020-06-07 Meeting notes

Admin news/News from David

• TDB next week

Module interface status

• SensorFusion and OutMixing/SendtoActuators interface done

• PID Interface exists in Zeropilot, can already be ported over from PICPilot :)))

  • PID.h file to be changed from .h to .hpp

  • Option - add time as a const int?

Module implementation update

• Need to build up unit testing around it as well

• Output Mixing guts are already done

• Anthony: SendtoActuators name is a LIE: Autopilot can’t talk to actuators - can only talk to Safety.

  • Conversions from % to PWM to be done on Autopilot, then Safety should be able to convert from PWM to PPM

  • To be renamed - will serve as a wrapper to Interchip_A

• CMake should find the new AttitudeManager folder

• SensorFusion: To look thru existing SensorFusion algorithms online (Madgwick, Kalman, etc.)

Attitude Manager State machine implementation

• State machine must know how to talk to a higher-level state machine that is running on a different thread

• Must also be modular enough to be able to run w/o that other state machine

Long Term Goals?

• AttitudeManager + Unit and Integration Test should be done by June 28th

  • REQ: Module guts, State Machine Implementation, Testing infrastructure

• FUTURE: PathManager, Telemetry

MATLAB Sims

• Use Matlab’s Simulink for simulations - MATLAB can be used to complete AttitudeManager loop, acting as simulated hardware

• Since Matlab can generate C code, with the right set-up it can be used to integrate

• Anthony to try this week!