Milestones
Introduction
In the past, when we have started large projects like ZeroPilot, we always had our eyes set on the end goal. “What ZeroPilot should look like in the end.” Although it is good to think of the future and future proof our design as much as possible, when we have our sights set that far in the future, it is very hard to stay focused on the now.
We have introduced milestones as a way to keep us on track and keep our eyes on achievable, incremental goals, that should eventually lead to the end product. All design decisions should be based on milestones and it is important to keep the next milestone as the highest priority.
Although, this may mean that we don’t make the most “future-proof” design now, at least we will have something working that we can continuously build off of.
The Current Milestones
Fixed Wing Milestones
Fixed wing manual (stick input to servo/motor output)
PPM or SBUS input
PWM output
Arm/Disarm
RSSI or Watchdog
Fly with Logging and Telemetry
Basic Telemetry Manager (works with MAVLink Mission planner)
Basic Attitude Manager (control servos via AM)
RFD900 drivers
SD driver
Fixed wing Fly By Wire A (stick inputs map to pitch and roll angles, others are same as acro)
FBWA Mode (FLY BY WIRE_A) — Plane documentation
Note: YAW control is offered via IMU yaw_rate, providing only impulse control.
Sensor Fusion with AHRS
IMU
Introduction to Atitude Manager
Telemetry Manager PID value upload
Fixed wing Fly By Wire B (same as fbwa but will hold altitude)
FBWB Mode (FLY BY WIRE B) — Plane documentation
Yaw control now offered via magnetometer
Additions to Attitude Manager
GPS driver
Altimeter as alternative to GPS
Airspeed
Fixed wing cruise (hold ground track (wind compensation)
CRUISE Mode — Plane documentation
ground track now offered via gps
Further additions to attitude manager
Fixed Wing Auto Take Off
Path manager auto take off
Fixed Wing Full Auto
Telemetry Manager
Return to home
waypoints/flight plan
hover
Fixed Wing Auto Landing
Path Manager auto landing
Telemetry Manager Land command
Quadcopter Milestones
Quad Acro
target pitch yaw roll rates
quad stabilize
auto leveling
target pitch/roll angles
quad alt hold
hold altitude
quad loiter
hold position
Quad auto take off
Quad auto landing
Quad auto flight