Flight Program:
Execution Steps:
Detect Pylon
Geolocate Pylon
Send Pylon coordinates to ground station
Task: Module - Task | Blocking Aspects | Remaining subtasks | Target Completion |
|---|---|---|---|
Geolocation - Input Conversion | Measurement of camera FOV | Design approach to problem, measure camera FOV, implement functions | March 20th |
Geolocation - Statistical Analysis | None | Get weights (probability of selection) from YOLO model then take weighted average | March 13th |
Target Acquisition - Model Training and Saving | Collecting training data, getting decklink setup and working | Get lightbridge running, get GoPro running, setup gopro → lightbridge, lightbridge → decklink and decklink → opencv | March 13th |
Command Module - Configure for telemetry use | Review of and merging command module | Define data source and output for command module, implement | March 13th |
Search Program:
Calculate angle to pylon
Steer to pylon
Task: Module - Task | Blocking Aspects | Remaining subtasks | Target Completion |
|---|---|---|---|
Command - Send Turn Instruction | Command Module Completion | Author instructions for command module | March 13th |
Taxi Program:
Approach Pylon
Identify boxes left to right
Scan QR code, detect correct or incorrect box
Traverse boxes to select correct box
Task: Module - Task | Blocking Aspects | Remaining subtasks | Target Completion |
|---|---|---|---|
Target Acquisition - Box Model verification and deployment | None | Move model to tensorflow Train model and save as h5 file | March 27th |
Distance Measurement | Camera intrinsics data , sync up on others | Pending status update | March 27th |
QR Scanning | Camera setup | Identify library, identify how we get the correct QR code, implement library with stream from camera | March 27th |
Box Traversal | TBD | TBD | TBD - On hold |
Deployment and Testing:
Deployment Requirements
Vision → GoPro, Lightbridge, DeckLink, GStreamer
Communication → PIGO communication through command module
Processing → Connecting models into programs, finishing threading
Operation → Running computer vision program on ground station
Requirement | Blocking Aspects | Remaining Subtasks | Completed Subtasks |
|---|---|---|---|
Vision | GoPro and Lightbridge Posession | Set up GoPro and Lightbridge. Connect Lightbridge to DeckLink. Confirm video flow from GoPro → Lightbridge → DeckLink → GStreamer. | Set up computer. Set up DeckLink. |
Communication | Command Module verification and merge | Wrap up command module. Confirm command module on firmware end is complete. System test communication. | Command module draft. |
Processing | Command Module merge, Geolocation Module completion, Shrinjay’s threading PR (Yes I’m calling myself out) | Add pipelines between main and geolocation module. Add pipeline between main and command module. Define and implement flight, search and taxi programs. | Module completion. Threading draft. |
Operation | Completion of entire computer vision system | Install and deploy system. | None. |