2024-10-04 Autonomy Meeting

Date

Oct 4, 2024

Participants

@Maxwell Lou
@Vyomm Khanna
@Vibhinn Gautam
@Balaji Leninrajan
@Leonardo Zhou
@Jane Zeng
@Nathan Green
@Adityya Kaushal
@Soham Yomesh Dave
@Kevin Kang

Announcements

We are confirmed to compete in AEAC Student Competition in Medicine Hat, Alberta in May 2025!
- Competition Architecture Syncs will be on Thursdays 8pm in E5-2103 and online.
- See updated Autonomy roadmap here: 2024-09-27 Autonomy Roadmap - UPDATED after comp sync
Obstacle avoidance flight test on 9-28
- Did not run: the buck converter which converts the battery’s 12V to 5V for the pi broke
  - Need to ground test the whole system earlier before flight test day
- Instead, collected some LiDAR data of particular scenes → @Andrew Shum @Vyomm Khanna
- Also started raining, pegasus tuning done halfway, needs more testing

Upcoming Flight Tests

Flight tests are a great experience, fun, and are great to learn how things work!! We would like more autonomy members to join in on testing in the Bay and at flight tests!
- The bay is open for everyone if you have done the required training (and bootcamp?), so please feel free to come into the bay whenever.
Oct 5, 2024 Will run autonomy system on Houston
- https://discord.com/channels/776618956638388305/1289257239957340221
- Running geolocation: seems that bugs are mostly fixed ← explain geolocation and our current airside system?
  - Ground test result @Ashish Agrahari - successful. See Autonomy/Geolocation_GroundTest_Oct4_2024 folder in onedrive
  - Test detect landing pads for now
  - Test between both CV and ML model for detection (see if they both work) - successful see onedrive folder.
  - Also, new trained ML model works much better
- Fly in a circle? @Jane Zeng ← explain Ardupilot (drone) ↔︎ mavlink ↔︎ MissionPlanner (ground)
Oct 12, 2024 May be moved to next week depending on availability
- Fly cluster estimation with geolocation.
  - @Ashish Agrahari will not be available. Please ask/assign someone else to test it, maybe @Aleksa Misic ?
- Switch waypoints mid-flight, pathing to switch modes (circle mode to auto for switching between flying a ring and flying to the next ring)
Competition Task 1 flight test on Oct 26, 2024

Discussion topics

Project	PM	Notes

Project	PM	Notes
Pathing	@Jane Zeng	@Jane Zeng @Leonardo Zhou Is currently creating unit tests for calculating FOV @Evan Zhao Opened a PR, Jane will review @Achita Anantachina Updates?
Airside	@Ashish Agrahari	@Aleksa Misic Cluster estimation In progress, a bit of work left @Herman Gahra Decision Worker Need to reassign @Andrew Shum Reinstall OS on Rpi Done @Iris Mo Profile Performance No updates @Siddh Patel Merge log files In progress, no updates this week @Krish Kochar Fix show-annotated feature Need to reassign @Victor Terme Autonomous landing module Starting @Aleksa Misic Add class names to objectInWorld PR is up, to review @Achita Anantachina Implement CV - tests Almost done @Shahvir Wahab Research Ardupilot with ROS Starting @bilal.osman Make docker container In progress / starting @Andrew Xu Create logging for all workers Please ask for update and name of this individual
ML	@Vibhinn Gautam	@Aniket Srinivasan Ashok research ongoing Model deployed on Raspberry Pi - will conduct a test within upcoming weeks
IMACS	@Balaji Leninrajan	@Sargun Singh Bhatti Create widget to execute scripts In progress, PR likely by this weekend @Andrew Wan Create button for RTL Basically ready for PR @Tochi Okoro Create controller for creating and configuring SITL In progress @Daniel Wang Create navbar In progress @Alex Liu Create widget to display camera feed from drone In progress @Akshay Satish Create widget to add and queue waypoints In progress @Lucas Kim Implement UI to change connection port and protocol PR soon @William Zeng Research Flame for creating a artificial horizon widget Some experimenting done, waiting for initial report
Obstacle Avoidance	@Vyomm Khanna	Flight testing this weekend to collect data. Researching path deflection algorithms - decided on Vector Field Histogram for obstacle avoidance. Started algorithm implementation, can visualise polar field histogram from LiDAR readings. Getting up to speed on DroneKit and current navigation architecture to work on adding waypoints to drone in-flight.
IR Camera + detection	@Vibhinn Gautam	Email received from Dan (Teledyne) We will continue looking for a separate camera as the expected meeting date is too late (November). Some IR cameras have been suggested; we seek to select one by Tuesday Oct 8. Need to start developing soon (start with detection of any color) Other shipments are on the way, no clue where.

Action items

From last week:

@Herman Gahra Re-review

@Dylan Finlay Create PR

Task for changing this CV method to detect any color rather than just blue

Add shahvir to confluence and assign ROS

Assign Alex Liu to Camera IMACS task

This week:

Label IR filter

Meetings