2024-01-28 ZP Sync

Sys Manager

• M1 sys Manager is completely different M2, so we should call someone new to take over the task

• Should define the M2 sys manager

• Right now the sys manager passes the controller data to the AM, AM process, and output to motors

• No interthread currently, there was an interthread doc, which didn’t determine the specific implementation – 2023-06-26: Inter-Thread Communication Discussion https://www.freertos.org/Inter-Task-Communication.html

• SM should only init the freertos threads, and kick them to start, doing interthread comm, making decision

• Should SM read RC input, should SM do this or TM do this?- SM for now

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Attitude Manager

• M2 AM takes the RC and outputs Motor

• Anni: how does everything talk to each other in different milestone

• M2 needs RC input, need to talk to TM, RC got from TM

• M3, output needs to change to 3-axis angular rate instead of percentage,

• M3 spit out pid, current position, …

• Should sensor fusion belong to AM? The sensor fusion output data struct should be defined

Telemetry Manager

• needs MAVLink message – how should the TM get the data?

• Don’t not take RC because tm doesn’t process the data

• M2: Stream GLOBAL_POSITION_INT & ATTITUDE messages to the ground station to be displayed on Mission Planner.

  • TM will manage communication with the ground station via RFD 900 Radio

    • RFD 900 Radio RX: Recieve Mavlink Data from Mission Planner.

    • RFD 900 TX: Send Mavlink data to Mission Planner.

  • TM will decode/encode Mavlink data

    • Encode: Into Mavlink bytes to send out Mission Planner transmitted via RFD 900

    • Decode: To decode raw Mavlink bytes received from Mission Planner received via RFD 900.

  • TM will communicate with other managers via [UNDEFINED COMMUNICATION MEDIUM]: Maybe for TM, this should go in M3?

    • ROS LCM?

    • Byte Streams?

    • MQTT Style?

  • TM will ingest drone state data (lat, lng, velocity, acceleration, etc…) via C++ references

    • Should these references be passed at TM instantiation?

    • Is there a finite list of drone state data TM will be ingesting?

    • Sample rate?

  • TM will have an input/output testing strategy?

• M3: [UNDEFINED AS OF JAN 28, 2024]

Pathing Manager

• Need to figure out data going in and out – too confused to make progress

• Doc:Path Management Architecture which documented the data TM is expected to receive

• Data in is defined in the doc, M6 M7 data in are the same structure

• M6 data out, should be 3-axis angular stuff, need to define the data structure, should be largely the one required for AM, need to minic the RC output

Driver

Data In/Out