F23 Tracking antenna integration plan

Owned by Yuchen Lin, created
Last updated: 2023-10-12
1 min read

Driver

@Yuchen Lin

Approver

@Aaditya Chaudhary @Christopher Chung @Ayoung Eun

Contributors

@Stanley Tang @lekang wang @Egor Gorelyy @Hardy Yu

Informed

@Anthony Luo @Aidan Bowers (Deactivated)

Objective

Integrate all tracking antenna software components and get ready for a ground test.

Due date

Oct 31, 2023

Key outcomes

Make the tower track the drone

Status

in progress

 

 Problem Statement

A tower that helps to increase the range coverage of a dynamic moving drone during competition with a directional antenna. This project is a part of the Ground station project.

 Scope

Must have:

  • Magnetometer

  • GPS Driver

  • Mavlink Decoder for GPS Message

  • Servo driver

  • Drone Tracking algorithm

Must have:

  • Magnetometer

  • GPS Driver

  • Mavlink Decoder for GPS Message

  • Servo driver

  • Drone Tracking algorithm

Nice to have:

  • Fake Simulator mavlink message from mission planner

  • Servo max turn preventing algorithm

Not in scope:

  • Pitch movment

  • Dynamic tracking

 

 Timeline

25-Sep202302-Oct09-Oct16-Oct23-Oct30-OctMarker
Hardware driver dev
Hardware Driver testing
sub-component integration test

Feature 1

Feature 2

Feature 3

Feature 4

hardware verification

BMX160 driver dev

Bmx 160 calibration

NEO M.8 driver validation

all component unit testing

iOS app

Android app

gps mavlink decoding

Airside setup and ready for test

Tracking algorithm testing

System testing

 

 Milestones and deadlines

Milestone

Owner

Deadline

Status

Milestone

Owner

Deadline

Status

BMX160 hardware Verification

@Yuchen Lin @lekang wang

Sep 30, 2023

Done

NEO M.8 Driver testing

@Stanley Tang

Oct 7, 2023

 

BMX 160 Driver Development

@Yuchen Lin

Oct 7, 2023

In progress

BMX 160 manual calibration

 

Oct 14, 2023

 

GPS Frame Mavlink testing

 

Oct 14, 2023

 

Driver unit testing

 

Oct 28, 2023

 

Airside GPS Setup

 

Oct 21, 2023

 

Tracking algorithm testing (main control loop)

 

Oct 28, 2023

 

Update

Currently development under branch Driver/bmx160-dev under

 Reference materials

Neo M8 driver code:

  • https://github.com/UWARG/TrackingAntenna2023/blob/main/Core/Src/NMEAparse.cpp

  • protocol specification:

    • https://content.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_UBX-13003221.pdf

    •  

  • known issue: driver experience hardware hard fault sometimes

BMX 160 Manual calibration

  • Goal: identify the offset for mag.x and mag.y

GPS Mavlink message: