Meeting recording

(I promise I’ll try and unscuff my obs settings it’s just taking a little bit).

Open

PR’s and Reviews

Pls look at PM PR - https://github.com/UWARG/ZeroPilot-SW-3/pull/25

@Yuchen Lin to put in PPM output stuff

@Alex Yang to put in PPM output Driver

@Stanley Tang to put in MAVLink stuff

@Hardy Yu @Ayoung Eun to put in NEO M.8 Stuff

@Aaditya Chaudhary to put TM stuff (if ready)

Post-Meeting Micro-Arch/Timeline Reviews Today:

• Tracking Antenna (Egor, Rahul, Yuchen)

• ??

• Task Assignments for bootcampers

STUCK!

Priorities & Action Items:

fill out team roster here: https://docs.google.com/forms/d/e/1FAIpQLSfGBfnTPGSR_PkMcl-XrxltoGhgfnDmErNO390fO0g0ecRPwg/viewform
you must complete the training to work onsite. Deadline is Jan 31

← Quick Asana Tour w/Anni →

← Brief Update from Chris on how we should handle handles w/LOS drivers →

← assigning new tasks to bootcampers, end of the EFS meeting if we have time, otherwise right after the CV meeting →

Updates this week!

(Updates here → see table of contents for structure)

ZeroPilot 3

Jetson-ZP-Ardupilot Integration (Stanley, Alex, Navya, Ayoung)

• needs mavlink messages to be defined

  • have been defined, will be implemented

• Stanley & Alex working on driver in LOS

  • Stanley Mavlink

    • new los_mav interface

  • Alex PPM Output, Controller decoding

• Ayoung to handle in-person testing

  • MAVLink & PPM

• Navya handling decoding & re-encoding of Airside CV commands from Jetson

• Gordon working on RC to PX commands using LOS_Mav

• Alex working on creating PPM interface & output driver w/ control handover logic.

• Stanley working on mavlink driver.

  • Created prototype driver that can send/receive heartbeats between ZP and AP. Needs to be tested.

  • Created test branch on ZP (probably need to move this to the comp repo actually)

    • https://github.com/UWARG/ZeroPilot-SW-3/tree/testing/LOS_Mav

  • Need to add more functions such as setting different flight modes, take off, arm/disarm, etc

• Integration timeline for:

  • testing ppm: as soon as we get the px6 setup

  • testing ppm / ap handoff

  • testing auto takeoff/landing w/mavlink commands: as soon as ppm verified

  • testing groundstation command sequencing & autonomous flight: Feb 11/12, as soon as IMACS verified.

• Mission Commands — Plane documentation (ardupilot.org)

System Manager (Gordon, Stanley)

• Gordon: Pared down code for comp, set up code framework for RC to PX controls

  • Looking for LOS_D_MAV interface documentation (what functions can I use and how)

  • Groundside and Jetson sound not yet ready, so TM ↔︎ SM comms not in yet

Path Manager (Neha, Liang)

• Synced with Liang → will start waypoint following implementation

• Opened PR for PM Landing/Takeoff + comms with SM implementation (Pls review so i can finally have some happiness)

Attitude Manager (Ishman, Armaan)

• Built using docker, but need help building via IDE to be able to use debugger

Telemetry Manager (aadi)

• CV side of RFD driver merged in WARG common, new repo that contains common code… same driver for air and ground side.

• Having sync tomorrow

• LOS_Comms: got interrupts working, need to follow los interface pattern.

  • Plan to finish writing and testing tomorrow

LOS

Interface

• LOS POS (Mostafa)

  • BMX160 working with SF on a thread (needs the other sensors to fully work)

    • Freq set to 800 hz (need to double check on a scope)

  • Began integrating GPS into LOS Pos (Hardy & Ayoung)

• LOS Link

  • Need’s to support PPM Output Driver from alex?

  • Action item: talk to alex about if we should keep in same interface or separate.

• LOS Actuators

  • PWM working, just needed to reconfigure timer settings. Code now configures driver member variables during initialization on runtime. Essentially only the cube ide configuration needs to be done manually.

  • Started testing DSHOT, initially doesn’t work. Need to reconfigure timer settings and make sure interrupt are enabled. Will continue testing after the meeting.

• LOS Telem/comms (aadi, yuchen, hailey, alex)

  • Look at Telemetry Manager Update

• LOS_Log + LOS_Storage (Darwin )

  • Architecture of Log + Storage was sketched out after last tuesday meeting

  • Nothing since then

  • Formalize diagram then starting on coding. End of Feb timeline still appropriate.

Drivers (lets try and get names added soon)

• VN-300 (Tony)

  • Barebones L5 project able to receiving expected uart messages from VN

  • VN does not seem to be responding to input from L5?

• Neo M.8 (Ayoung, Hardy)

  • In the process of integrating into LOS driver… testing/LOS_Pos

• airspeed (Hardy, Ayoung)

  • No update… still waiting on testing

• SD Card (Darwin)

  • LOS_Storage & LOS_Logging Design + Impl.

• Mavlink? (Tony/Alex)

  • See Zp ardu integration section

• RFD900? (Los Telem/Comms team)

  • See Telemetry manager section

• Jetson? (Los Telem/Comms team)

  • See Telemetry manager section

• Current/Voltage Sense (Aryan)

  • Needs testing.

• CRSF (Hailey)

  • Making progress on CRSF documentation. Should be done in the next 2-3 days.

Systems Tooling & Infra

Infra + Devops

• @Derek Tang

Simulator (SIL) (Mostafa, Alex, Taim, ???)

• reached out to aidan’s prof (hopefully we can get some mentorship)

HIL (Hardware In the Loop) Controller (Yuchen, Mahir)

• Will try to finish the PPM driver by tn and figure out how to log the data

Tracking Antenna (Rahul, Egor, Yuchen)

• Microarchitecture Doc mostly complete

  • Tracking Antenna 2023

🎡List of Open Tasks

In no particular order, most of these on asana:

• HereFlow CAN Based optical flow sensor

• Bidir DShot

• USB Logging

• LOS Link with CRSF SBUS

• Add IOC configuration on Main ZP

• Peripheral distrib. For L5 & ZP3 COMP spec.

• MPU 6050 Support

• Old Analog Airspeed Sensor Support

• US100 Rangefinder Support.

• Lidar rangefinder support (unspecced as of now)

• Instrument Based Vision Denied Landing

• Vision Based Auto-Land

• Gimbal Stabilization Software

• Phased array beamforming antennas (please don’t do this unless you’re really really sure of what you’re doing and can prove it in matlab & simulation & are capable of fronting some $)

• LOS_Xbee driver

• Custom ELRS receiver

• Custom HD0 receivers

• Firmware for BLDC motor controller

• Battery/flight time estimator (again, don’t take this unless you really know what you’re doing).

• Obstacle avoidance?

Bootcamper Assigns

Nehemiah → firmware for BLDC motor (eval kit?)

Sava → airspeed

Vishal → mpu6050

Alyzen → Xbees