Attitude Manager: Winter 2023 Plan

Scope

Must have:	Task 1: PID Tune Phoneix Quadcopter and have it working with ZeroPilot Task 2: Developing fixed-wing control alogirthms and tuning them

Must have:	Task 1: PID Tune Phoneix Quadcopter and have it working with ZeroPilot Task 2: Developing fixed-wing control alogirthms and tuning them

Choosing and Checking If Hardware Works → Week of Feb 1 & Feb 5

Making sure the STM32 board being used is correct and optimal for testing purposes
- Fall semester flashback: had problems with STMF405 when testing DSHOT, resulting in the board having serial reading problems and in general, peripherals would destroy the boards
- Action Plan
  - Investigate the cause of STMF405 breaking when tested with peripherals, and have electrical team member for insight and guidance
  - Previous Documentation of Event: ZEROPILOT AM debug - Mistake record
  - Worst case: If issue persists, use PPM for PID tuning
Establish tesing procedure https://docs.google.com/document/d/1u1bcYUhUnzec-E2rCR1GMW8R6mRejOlxV5kyVtGECa0/edit
- For each sensor, make sure sensors/pins are appropriately configured using STM32 dev board and breadboard for prototyping
- Select ideal clock speed(s)
- Using I²C protocol to capture data
Check if sensors/actuators work using debuggers on STM32 IDE
- Through debugger, validate serial data and make sure sensors and actuators are calibrated, and represent realistic and appropriate readings, and responding to movement if applicable
- If readings are incorrect, diagnose whether a software or hardware issue

Preliminary tuning & debugging→ Week of Feb 12

Hook up essential hardware
Make sure ZP3 software builds correctly
Fix any major bugs/issues/eccentricities that are found
Note: Need to ask Mostafa if LOS stuff is ready
Tune without Propellers first, without the tuning rig
- (Prior to tuning, review relevant aviation theory and math)
- motor spinup test, put some really large values, manually move gyro, see it motors behave correctly

Hook Up Tuning Rig → Week of Feb 19

Reach out to mechanical
Connect everything a.k.a ESC’s, motors, RC on controller and Phoenix, make sure drone blades do not fly off and structurally sound

Begin tuning (Details TBD) → Week of Feb 19

Timeline TBD