2023-06-03 Auto-Landing Meeting1

Date

Jun 4, 2023

Figure out structure of inputs/outputs

Divide tasks (if possible)

Item	Notes

Item

Notes

Representation of Drone

Given pitch, yaw roll
Represent as vector or point
- Vector - Tells us orientation
  - Cannot output one angle probably
- Point - Doesn’t tell us about orientation of drone (what if you land upside down lmfaoo)

Info Needed

Input
- birds-eye view of space with landing pad - can assume there will always be an
  - camera is on bottom - bounding box will be distorted if angle is tilted, so we should ideally try to keep the drone at 90 degrees
- need to essentially center drone over landing pad and descend
- assume we have basically any variables we want (e.g. location of drone, landing, etc.)
- assume ideal situation (i.e. no turbulence, etc.) and work from there
Output
- Center drone on landing pad
- send movement commands
  - set of movement commands is: (rotate on given axis, ascend/descend, move forward/back)
Performance
- main indicator is smoothness of landing
- no time limit

Someone needs to talk to EFS

Study movement commands

Check out geolocation code (uses bounding box to give coordinates)

List of things required for ideal scenario:

Stop x-y movement (So it hovers w/o moving)
1. Move to next step when change in x/y is small enough
Orient the drone parallel to the ground and pointing to the center of the landing pad
Move drone to center of landing pad
Look at geolocation module