Lidar Rangefinder Support

Owned by Tom Chiu
Last updated: 2023-04-04
2 min read

Principle Engineer

@Tom Chiu

Forced to Review

@Christopher Chung @Anthony Luo

Dragged Along

@Aaditya Chaudhary

Uplifted

 

Objective

Add rangefinder distance measurement support to (no clue what board)

Due date

 

Key outcomes

Design and implement rangefinder support using the TFMINI-S Micro LIDAR Module to obtain distance measurement values that can then be used by the drone for other purposes.

Status

In-PRogress

 Problem Statement

  • No clue, intuitive reasons for having this support may be for landing, avoiding collision, potentially evaluate velocity of descent based on values obtained through the module.

 Scope

Current Must Haves:

  • Get distance readings from 10m range with a max of ±2.5cm STD for reading

  • Code to mitigate collision due to abnormal readings from light spot reaching two different objects of different elevations

  • Consistenly obtain readings from sensor at desired transmission speed (max transmission speed of is 400kbps with I2C module on sensor)

  • Getting a working driver for at least one of sensor

Current Must Haves:

  • Get distance readings from 10m range with a max of ±2.5cm STD for reading

  • Code to mitigate collision due to abnormal readings from light spot reaching two different objects of different elevations

  • Consistenly obtain readings from sensor at desired transmission speed (max transmission speed of is 400kbps with I2C module on sensor)

  • Getting a working driver for at least one of sensor

Future Expansion:

  • Integrating code to allow for the operation of more than 1 of these sensors

Not in scope:

  •  

Tasks Break Down:

 Timeline

Estimated timeline is ~1 month, as a conservative guess. This is @Tom Chiu 's first project, so there are many unknowns contingent on how long it takes him to grasp topics and organizational structures.

06-Mar202313-Mar20-Mar27-Mar
Design
Coding
Testing

Design Non-Volitile Storage Arch

Review

Implement

Test Driver

Test Interface

 Implementation Details

 Actions Items

 Milestones and deadlines

Milestone

Owner

Deadline

Status

Milestone

Owner

Deadline

Status

Approved Interface Structure

 

In Progress

Coding

 

 

Driver Testing

 

 

Interface Testing

 

 

 

Open Questions

  • Somewhat resolved questions

    • Are there any recommended documents/areas to look at for understanding the system as a whole? Is it just down to reading the code?

    • Related to the first question, but I’m unfamiliar with what drones there are, or which drone this feature is intended for; where my code will reside within the zero-pilot repo, or the team intends to use this feature for.

  • Unresolved questions:

 Reference materials