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99 Work/0 OneSec/OneSecNotes/00 Daily/2023-10-03.md

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+---
+aliases: 
+tags:
+  - daily
+---
+
+# Tasks
+- [x] find led boards
+- [x] test servo across the brushes
+
+# Planning
+#planning #plan/2023/Q4 
+## Goals
+What goals do we want to achieve until the end of the year?
+### Delivery Goal
+Do a simple but complete demo including hooks, delivery table, drone and small parcel
+1. Bring drone, hook, table, light-weight package, tablet with QGC and remote control
+2. setup hook, put drone into hook and connect power (nice switch)
+3. Wait until drone gives ready signal (RGB LED? sound with motors?). In order to be ready it will RTK GNSS, LTE connection with ground control station
+4. Drone opens payload bay (because of switch, or payload handover model or something like this)
+5. User can put empty parcel into the payloadbay 
+6. User walks back (drone blinks orange if person is too close)
+7. Once user is 2 m away drone blinks green and closes payload bay
+8. It starts to fly to 5m altitude
+9. flies to table (known rough location, or high resolution camera)
+10. hovers above table for a moment
+11. slowly approaches table and opens payload 
+12. payload ejection
+13. payload closing
+14. fly back to cruise altitude
+15. fly back to hook
+16. land in hook if people are not around hook
+
+If the cruise-mode is ready until then we can also do a cruise mode demo:
+
+Instead of having the table close-by we put the table at 500 m distance (have a webcam that films the table) and do the same demo.
+
+### Cruise Mode Goal
+1. Get new propulsion system working
+	- make sure it doesn't vibrate
+	- measure efficiency with test stand
+	- go to wind-tunnel to test it in cruise mode
+	- make sure that the virtual swashplate actuation is working and characterize it.
+	- make sure that the variable pitch is working
+	- characterize the slip-ring performance
+2. Use PX4 VTOL mode to fly the drone in VTOL: meaning in hover, transition and cruise and back transition
+3. Measure endurance (how long can we cruise with a full battery?)
+
+## Work to Do
+What is needed in order to achieve those goals?
+### Hardware
+- [ ]   Iterate 2-3 times a full drone build including all our boards.
+	- [ ] New PDB with battery pack
+	- [ ] both carrier boards with cooling in place
+
+### Software
+#### Low Level Software
+- [ ] Control system that can keep its position to 10 cm accuracy for the hook landing. It will need to be able to reject wind gusts properly
+#### High Level Software
+- [ ] ROS2 system needs a big brush up: 
+	- [ ] Good trajectory planner node
+	- [ ] high level state machine that can execute different behaviours (behaviour tree) 
+	- [ ] Camera to Vision pipeline: 3d foundation model, 
+	- [ ] node to communicate with ground control station (mavlink router node)
+	- [ ] node to handle battery communication: