First Commit

99 Work/0 OneSec/OneSecNotes/Temporary/Graph Theory.md

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+I stumbled across this because I was researching what the most efficient way of implementing our FruxelGrid was. In this [StackOverflow answer](https://stackoverflow.com/a/14579347/7705525) I got pointed to graph theory.
+
+7 Bridges of Königsberg
+![[Pasted image 20231023150710.png]]
+# Definitions
+
+| Definition     | Meaning                                      |
+| -------------- | -------------------------------------------- |
+| Node / Vertex  | The object doing some work                   |
+| Edge           | Path between two Nodes                       |
+| Node degree    | Number of edges that touch the node / vertex |
+| Graph          | Combination of Nodes and Vertices / Nodes    |
+| Eulerian Graph | Exactly zero or two nodes have an odd degree |
+
+# Rules
+1. Exactly zero or two vertices can have an odd (=uneven) degree 
+
+# Implementation in [[C++]]
+1. **direct Translation** of the Definition: create a `std::vector` for a list of vertices and a list of edges. The edges themselves are represented as a `std::pair`
+2. Adjacency List
+3. Adjacency Matrix
+
+![[Pasted image 20231023154352.png]]

99 Work/0 OneSec/OneSecNotes/Temporary/Planning - 11-2023.md

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+# Hardware
+## Electrical Hardware
+### Testing
+- Define and run hardware tests for every single board and document it on google drive (with templates).
+- What are common industry standard hardware tests that we should perform?
+- If we wanted to sell the drone as a product:
+	- what tests would we need to do?
+	- those tests can indicate what we should be testing
+- EMI testing:
+	- can EMI cause issues of the drone operation
+- Vibration testing:
+	- How does the drone operate after 100 Hours of some vibration level?
+	- Are connectors still in place?
+
+
+# Roles
+## Hiring
+- Control Engineer (CH)
+	- Hover, Cruise and transition
+	- use all actuators in unison to achieve a goal
+	- Experience with PX4 is a plus
+	- Embedded microcontroller programming experience
+- Senior Software Engineer (WORLD)
+	- C++, Linux, ROS2 (even though)
+	- has written  well developed software
+- Full stack web engineer (or on fiverr)
+	- log server
+	- pilot interface
+	- groundstation
+## Advisors
+- talk to company that does large drone operation (zipline?)
+	- Quality Assurance? 
+	- Make sure that the drone
+
+# Office in Zurich
+- Clean & organised
+	- every object has its place (have a sheet where you can find every object)
+- 

99 Work/0 OneSec/OneSecNotes/Temporary/Software Planning - 11-2023.md

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+# General
+## Development Process
+- Docker Based Development
+	- Development Containers
+	  Build docker container for all engineers to work on the exact same code
+		- include simulation with gazebo, px4, and always the same ROS version.
+		- very easy to setup for new engineers.
+	- Testing Containers:
+		- SITL testing container
+			- runs on gitlab (does not contain visual simulation)
+			- does not contain development tools nor build tools
+		- HITL testing container
+			- use a real drone to do HITL simulation testing
+			- uses our real hardware
+- Automated Testing
+	- Software
+		- Have unit tests for everything
+		- Have integration tests that run in docker simulated environment
+		- Have hooks that use gitlab to run the tests
+		- Improve on model used in simulation (control engineer)
+		- connect unity with gazebo
+	- Hardware
+		- Future: have a space where drone can actually perform automated tests (hook takeoff)
+- Drone Software version managing
+	- One overall version
+	- contains subversions for all different systems, including hardware and software.
+	- ESC firmware & configuration file
+	- OSD-software version & confiugration
+		- What exact software version of ROS2 do we use?
+	- PX4-software version & configuration
+
+# Drone
+## Low Level
+### Sensors
+- Pitot Tube (PX4)
+	- probably fast (plug and play)
+	- most work is integrating it into our flight stack in px4 --> control engineer
+- ublox driver (ROS)
+	- Add unit tests
+	- Add meta data publishing (how is it usually done in ros)
+	- Add service to get health status message
+	- Add configuration parameters
+	- make sure correct firmware is on gnss module
+	- track antenna: does it work properly?
+- LTE Driver (ROS)
+	- improve driver to have access to meta data (to be sure about connectivity)
+	- Make sure that VPN works flawlessly
+	- Or another way to work with the ground station server
+	- make sure correct firmware is on module
+	- track antenna: does it work properly?
+	- SIM management
+- Temperature and Humidity Driver (ROS)
+	- share sensor message at certain frequency
+	- have configuration parameters
+- BMS Driver (ROS)
+	- share raw bms sensor data to the ROS message bus
+	- have configuration parameters
+	- have services for recalibration, changing charging settings, and others
+- Parachute system 
+	- PX4 Heartbeat signal & driver (PX4)
+	- ROS action to trigger parachute (can also be done remotely)
+- Optical flow
+	- make sure that it is well calibrated
+
+# Other Hardware
+- ESC:
+	- make sure correct firmware is running
+	- observe temperature and current
+	- feedback message to ROS system
+- parachute board
+	- observe parachute state (GPIO available)
+	- share with ROS system
+	- share with Ground control station
+		- at what location and what time has the parachute been triggered?
+		- has the deployment been successful?
+- Magnetic sensor board
+	- Add calibration routine --> we want to very easily
+- Payload
+	- Payload manager:
+		- detect payload
+		- estimate properties of payload (weight, center of mass, etc.)
+		- share properties to control system and battery manager
+		- Payload ejection action (ROS2)
+		- payload reception action (ROS2)
+- LED system
+	- LED control (ROS2 message to turn on / off)
+	- have a smart camera control instance to *synchronize* the LEDs with the caputring of the camera system
+	- Driver for different LEDs
+		- IR, White via I2C
+		- Armpit LEDs 
+		- User Feedback LED
+	- user feedback LED
+		- different color / blink codes
+		- write different actions to request a sequence to be played
+- Buzzer
+	- parachute auto buzzer
+	- user feedback buzzer
+### Control
+- integrate all flaps
+- integrate state of payloadbay into model
+- make a detailed and well tested model of drone that can be used in the simulation to accelerate development
+- integrate variable pitch into the control
+- actuators
+	- 2 virt swash
+	- 2 variable pitch
+	- 4 flaps
+	- payload bay
+	- payload ejector
+- Sensors
+	- pitot tube
+	- optical flow
+- move to px4 v1.14 --> means control allocation instead of mixers
+	- allows to more effectively use all actuators simultaneously
+	- every actuator is defined by forces that it can deliver and thus this system manages a single actuator failure much better than the mixer system
+	- also allows much better ros2 integration with px4
+- Achieve <10cm hover accuracy
+- Achieve efficient cruise flight
+- Achieve reliable transition in both directions
+- Integrate new S-Rod
+- Integrate new single blade propeller
+
+### Other Low Level
+- remote ID implementation
+
+## High Level
+### OSD-Autopilot
+- Settings Manager
+	- Have one common place to change all settings in the entire system
+	- change PX4 settings through the settings manager
+	- use setting files that define all settings
+- Battery estimator 
+	- use raw data from BMS and mission data from groundstation/px4
+	- how much flight time is left?
+		- at hover
+		- at cruise
+		- empty vs full
+		- 
+	- can I get to the homeport safely?
+	- how much charging do we expect at the next restaurant?
+		- needs communication with groundstation and high level planning
+- Navigation library
+	- A* planning algorithm (copy Jerrys implementation)
+		- unit tests
+		- integration tests
+	- Well tested controller-plugin
+		- Enables us to do trajectory tracking well
+		- probably offload to px4
+			- thus calculate a trajectory (includes derivatives like velocity, acceleration jerk and time based points) from a path that we know is feasible for our drone
+	- Costmap3D / Fruxelgrid
+		- make sure obstacles are well defined in 3d space includi 
+		- write proper test functions
+		- make API to get information about the world
+		- Add some sort of memory (buffer? derivative?)
+			- Is an object moving towards me?
+			- Basically we should be able to detect if someone throws a stone at the drone and avoid the stone.
+			- Get inspired by StuffMadeHere trajectory estimation (basketball video or others) to estimate a trajectory of an approaching object
+	- Write more complex behaviors
+		- Hook landing
+		- Hook takeoff
+		- Flat surface Delivery
+		- Ask for pilot assistance
+- Climate Manager
+	- Data sources
+		- use raw data from temperature sensors
+		- use camera data (through future FruxelGrid updates)
+	- control heating wires in propeller blades and leading edge of the wing
+- Log Manager
+	- Improve Logging: use C++ instead of python
+	- unify px4-logs with rosbags
+	- is there a better logging method than rosbags?
+	- share low bandwidth log data to groundstation to live plotting with plotjuggler or similar
+- Bringup manager:
+	- Make sure that the entire software stack is running after boot
+	- run a few hardware / software tests periodically to be sure that everything is running as it should be.
+- Camera Node:
+	- detect if a camera is down
+	- action to capture an image to a file (maybe used to confirm delivery)
+- Hailo Node:
+	- hef-file manager
+	- plugin based neural nets?
+		- change nets at runtime
+	- Meta data publishing
+	- health data publishing
+- Destination finder
+	- panorama to location converter
+
+### Other High Level
+- Tele operation node, such that we can use a remote control over LTE instead of radio
+- Demo library
+	- Demos are basically just another behaviortree with some user interaction
+# Groundstation
+- interface to single drone:
+	- communicate new job (incl. job-id)
+	- get updates on job
+	- encrypted communication (ROS? UDP? MAVLINKV2?)
+	- get flight logs continously
+		- throttled
+- Fleet management:
+	- every drone has UID
+		- and all details stored with it:
+			- current version number (hardware and software)
+			- what type of rasperry pi (UID)
+	- LTE simcard management
+	- RTK correction stream management
+	- maintenance history of every drone
+	- flight log history of every drone
+	- current status of every drone
+	- how many drones are in the air right now?
+	- map with all drones: color coded which ones are flying, color coded which ones are unhealthy
+- Interface to Delivery app, delivery software, etc.
+	- deciding function if a delivery is possible according to panoramic image (people in the loop?)
+- routing software
+	- incoming jobs: which drone should do what job
+- delegation software
+	- how to delegate pilot assistance requests to free pilots?
+
+# OneSec Server
+- log server
+	- automatic logupload (px4, rosbag, images?)
+	- daily, weekly, monthly... report in jupyter --> pdf or html
+	- dashboard with number of deliveries / number of flighthours, etc.
+	- debug tools
+		- download specific log
+		- compare all logs of the same vehicle
+- maintenance server
+	- scheduled and unscheduled maintenance server
+	- detailed instructions (including videos and checklists) on how to do maintenance / debugging / fault finding
+	- email notifications if scheduled maintenance is needed
+- Business Operations 
+	- Delivery App / interface to uber eats
+	- Customer database, handling, etc
+		- address
+		- precise GNSS coordinates after first delivery
+		- panorama image before first delivery  (encrypted?)
+		- multiple delivery locations
+
+# Pilot Interface
+- reliability
+	- dual power supply
+	- dual internet provider
+	- make sure machine is powerful enough
+- security:
+	- make sure that some sort of encryption is happening
+- Teleoperation
+- visual confirmation
+- high resolution map with precise coordinates
+- interface:
+	- to choose delivery location on map
+	- to choose delivery polygons on map
+	- 

99 Work/0 OneSec/OneSecNotes/Temporary/Todo before Leaving.md

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+# Documentation
+- copy Obsidian documentation into confluence
+- download all confluence as html (all spaces)
+- finish missing documentation
+
+# Handover
+## Hasan
+## Ugur
+## Vidit
+## Ayush
+## Jerry
+
+# Computer
+- [ ] Is everything pushed?
+
+# Admin
+- [ ] Vertrag: Geld für Mai (halber Lohn, Ferien, etc), Options, unpaid leave (option contract)
+- [ ] Passwort übergabe Dannick
+
+
+This weekend at home:
+- [ ] script to move all repos to bitbucket
+- [ ] download all passwords for Dannick
+- [ ] downlad example report for tests templates on drive

99 Work/0 OneSec/OneSecNotes/Temporary/Untitled.md

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+
+
+Show some tag context
+
+```dataview
+list from #learning/bite 
+```
+
+
+```query
+#learning/bite 
+```