First Commit

OneNote/OSD/Admin and General/Applications.md

@@ -0,0 +1,17 @@
+Hi,
+
+  
+
+Thanks for applying! I looked at your CV, and it seems like you might be a good fit.
+
+For the next step in our selection process, please take 30 minutes and do this problem solving test:
+
+[https://onesecdelivery.com/problem-solving-test.html?embedded-new](https://onesecdelivery.com/problem-solving-test.html?embedded-new)
+
+Regards,
+
+  
+
+Claudio
+
+OneSec.com

OneNote/OSD/Admin and General/Comeback Planning.md

@@ -0,0 +1,79 @@
+# Agenda
+
+- [ ] Workshop
+
+- [ ] Control System
+
+- [ ] Electronics
+
+- [ ] Prototype
+
+- [ ] Summary von USA
+
+# Workshop
+
+- Research summarized in [sheet](https://docs.google.com/spreadsheets/d/1YP47rCptCled3IzDZ0RmcIJ_H5GzLnqsTZDGfUqnUEQ/edit#gid=0)
+- Most workshops work in a offer based way. We need to send them an email with the enquiry and they will answer with the lead time and cost.
+- Do we want a workshop that helps with the design? #question
+
+# Control System
+
+# Prototype
+
+- What is the status? #question
+- Is it Inigo's or my job? #question
+- Does it make sense to keep trying with old design? #question
+
+  
+
+## My thoughts and strategy
+
+- We're going down a rabbit hole. We do not understand the system properly and we're burning our time and money with this.
+- We need a PX4 expert --> either one of us learns it and becomes a good pilot or we hire someone who knows it.
+    
+    - We need to understand _exactly_ how motor commands are issued. #important
+- Wouldn't it make more sense to redesign it properly before putting all our efforts in this?
+    
+    - Within the design we can include the possibility to change certain aspects to make up for uncertainties (e.g. threaded holes to attach the blade holders at several different azimuth angles and not only one fixed one)
+    - Include learnings from current swashplate failure
+        
+        - Blade holders are not strong enough --> one solid piece
+        - Blade flapping (bending) is considerable --> how is the distance between the two rotors calculated? #question
+        - We do not know how the system works --> get to understand it properly
+        - Swashplates always introduce vibrations (why?), how can we minimize those? #question
+    - Use MatLab and books to create a model and a simulation (See Nasa papers for simulators)
+    - Make a prototype of the prototype, where both swashplates are directly actuated by servos. This removes coupling between the two rotors and allows to measure the effect of each swashplate individually.
+    - We should get our hands onto a force-torque sensor --> System identification becomes easy
+    - Can we get in touch with experts that have designed other helicopter systems? [Swiss helicopter startup](https://koptergroup.com/)? Martin Stucki (Founder) #question
+- I think we should invest in a well thought out test bench. It allows to thoroughly analyze prototypes in a safe environment where we can measure important aspects and learn from them. It allows to create a more scientific approach to the design. Later it will help with the control system design.
+    
+    - Important components are:
+        
+        - Slowmo camera
+        - 6 axis force/torque sensor
+        - Time synchronisation
+        - Desktop computer to control and monitor everything
+        - Temperature and humidity sensors
+    - Can it be combined with a 6 dof robot arm to simulate different inertias and therefore different drone bodys? This might be a very fast iterative approach to control system design. #question
+- Is peek a viable option to print the swashplate? To iterate faster through prototypes?
+- Are those tight tolerances really needed? It makes it very expensive to manufacture.
+
+# Electronics
+
+- Hire or not?
+- Outsourcing or not?
+    
+    - Outsource small scale --> upwork
+    - Outsource large scale --> Thundercomm
+- Power System:
+    
+    -   
+        
+
+  
+
+# Summary USA
+
+- Does OneSec Inc. Exist? #question
+- How many discussions did you have?
+- Verdict of evaluation and interest?

OneNote/OSD/Admin and General/Confluence Planning.md

@@ -0,0 +1,5 @@
+Articles
+
+- [ ] How to 3D-Print with checklist.
+
+- [ ] How to work with slack, confluence and gdrive

OneNote/OSD/Admin and General/Diskussion Dannick 13.10.21.md

@@ -0,0 +1,65 @@
+# Allgemeine Situation
+
+Ich möchte ein paar Gedanken bezüglich OneSecondDelivery mit dir teilen und habe alles niedergeschrieben.
+
+  
+
+Nachdem ihr entschieden habt alles nach Zürich zu verschieben hattest du mich gefragt, ob ich noch länger bei OSD dabei bleiben möchte. Ich habe dir zugesagt, wobei ich darauf vermerkt habe, dass ich mich dazumal nicht wohl gefühlt habe, da ich auseinander gerissen war zwischen Lausanne, Zürich und Luzern. Ich bin dann noch länger in Lausanne geblieben um die wichtige Deadline zu erreichen, welche aber bis heute nicht erreicht wurde. Wir haben abgemacht, dass ich mich melde wie es geht in Zürich. Jetzt nach 2 Monaten muss ich sagen das es sich nicht verbessert hat, eher verschlechtert. Ich finde es sehr schön hier in Zürich mehr mit Alena und Freunden zu machen, bin aber sehr unzufrieden mit der Arbeit und möchte das offen mit dir teilen, da mir die Kommunikation zwischen uns von Anfang an sehr viel Wert gewesen ist.
+
+  
+
+Durch Selbstreflektion merke ich, dass ich mich überhaupt nicht wohl fühle. Ich fühle mich komplett ausgelaugt - konstant. Meine Positivität ist zum grössten Teil auf der Strecke geblieben und es drückt auch im privaten Leben durch, was mich sehr stört. Am Ende fast jedes Tages denke ich das es kein guter war und nicht viel funktioniert hat wie hätte sollen. Jedes Mal wenn ich die Treppe runter gehe in Richtung "Büro" fühle ich eine Abneigung und möchte am liebsten nicht runter gehen. Das hat vor allem damit zu tun, dass ich den ganzen Tag alleine im Keller sitze und alleine an irgendwelchen Dingen herumtüftle. Es ist überhaupt kein Teamspirit vorhanden und ich habe keine Ahnung woran Inigo, Floris, oder Jerry arbeitet. Wir haben immer wieder gesagt, dass das besser wird, aber auch nach 16 Monaten ist es nicht wirklich besser. Ich bin mir bewusst, dass das zu einem blöden Zeitpunkt kommt, da sich vielleicht viele dieser Dinge ändern werden, sobald Investmentgelder organisiert sind. Aber wir sagen das schon seit Monaten und ich spüre nicht wirklichen Fortschritt. Bezüglich Team beschäftigen mich mehrere Punkte, zum Beispiel möchte ich mit anderen Leuten an einem Projekt arbeiten, um technisches Feedback zu bekommen und wichtige Punkte miteinander diskutieren zu können. Vor allem denke ich, dass wir "Experten" brauchen können, da das Development so viel schneller wäre und Leute wie Inigo und ich viel mehr und schneller lernen können was alle vorwärts bringt. Dann fände ich es wirklich wichtig auch zwischen den verschiedenen Themen Austausch zu haben mit einem wöchentlichen 10-Minuten Meeting oder so, wo alle mitmachen. Das hilft einerseits das Gesamtbild zu sehen und andererseits hilft es allen einen Schritt zurück zu gehen und sich selbst und seine Arbeit objektiver zu betrachten. Etwas anderes ist, dass ich bisher an vielen verschiedenen Dingen arbeiten musste, aber immer wieder etwas neues Priorität hatte, was dazu geführt hat, dass ich nichts wirklich abgeschlossen habe. Ich habe manchmal das gefühl für sehr vieles gleichzeitig verantwortlich zu sein, und nicht nur verantwortlich sondern auch derjenige der es ausführen muss.
+
+  
+
+Ich merke insgesamt, dass es mir nicht gut geht und sich die Situation eher verschlechtert als verbessert. Das beschäftigt mich ziemlich und ich glaube ich bin nicht bereit meine Gesundheit aufs Spiel zu setzen. Für mich gibt es verschiedene Anzeichen: es wirkt sich auf meine Motivation an der Arbeit wie auch im privaten Leben aus, ich bin durchgehend erschöpft und kann kaum aufs Wochenende warten, ich bin sehr oft schlecht gelaunt, was ich vorher nicht wirklich hatte (und das hast du ja sogar von dir aus bemerkt in Lausanne), manchmal kriege ich eine komplette Blockade beim Arbeiten und denke dass ich alles hinschmeissen sollte (was ich eigentlich nicht möchte).
+
+  
+
+Ich wollte dir vorschlagen, das zusammen zu erörtern und Lösungsansätze zu suchen. Ich bin davon überzeugt das vieles viel besser wird sobald wir alle in Zürich sind, fühle mich aber so als ob das schon seit langer Zeit herausgeschoben wird.
+
+Key Points
+
+- Leere versprechen
+- Bubble
+- Team
+- Ich lerne nichts mehr
+- Motivation
+- Wirkung auf privates leben
+- Signs of burnout
+    
+    - 90% sind schlechte tage
+    - Immer schlecht gelaunt
+    - Konstant erschöpft
+    - Ich habe keine freude mehr
+    - Ich möchte niemandem mehr erzählen was ich mache bei OSD (erkläre immer alles in denselben alten sätzen)
+    - Prokrastination
+- Vielleicht bin ich nicht der richtige für den job
+  
+  
+  
+
+  
+  
+  
+  
+
+**Positiv**
+
+- Neuanfang in Zürich -> Mitgestaltung, Team, etc.
+
+**Negativ**
+
+- Nach 16 Monaten nicht so viel Start-up erfahrung
+- Ausgeleiert
+- Motivation viel kleiner geworden
+
+**Kommunikation**
+
+- Immer so schnell wie möglich
+- Keine Team meetings -> ich habe keine ahnung was di anderen machen.
+
+Was mir sorgen macht
+
+- Ich fühle mich trapped wegen aktien.
+- Möchte aber trotzdem entlöhnt werden für was ich geleistet habe

OneNote/OSD/Admin and General/Embedded Job Posting.md

@@ -0,0 +1,38 @@
+Position as embedded hardware engineer at promising drone delivery start-up
+
+**Promising drone-delivery startup is hiring an embedded hardware engineer. You will design the electronic system which powers and controls our autonomous delivery drones.** **These drones will then deliver millions of meals and other packages to our customers.**
+
+Your main task will be to design the electronic system of our delivery drones. An autonomous drone contains high current switching, AI-oriented processing systems as well as sensitive sensors. All of them need to work together in balance to build a high quality autonomous delivery drone.
+
+In detail, these are the 3 tasks that you will focus on:
+
+6. PCB Design: A custom PCB needs to be designed. It will host processors used for the autonomous AI as well as peripherals such as GPS and cellular modems. It is important that the processors can communicate with peripherals efficiently with the smallest possible signal to noise ratio.
+7. Power Stage Design: To have a reliable and efficient drone flying in the air, a well-designed power system is needed. How does the power flow from the batteries to the motors, servos as well as the processing and sensing electronics? You will need to think about redundancy, efficiency and performance during the designing process.
+8. Actuator system: What are the best actuators for our drone and how do we control them?
+
+For all these tasks you will need to work closely together with other members of the team, such as the control engineer or the AI team. There will also be periods where you will help other members of the team on other hardware related subjects.
+
+**Requirements**
+
+12. The most important thing is that you are excited about this project, and like the mission of our company.
+13. Understanding of embedded electronics and its unique caveats.
+14. PCB Design Skills. We use KiCad but experience on any other PCB CAD program is valuable.
+15. Experience with soldering and hands-on work with electronics is beneficial.
+16. Experience with embedded software (architecture and languages) is a plus.
+17. Experience with tinkering and building things. It doesn't matter if that experience comes from your free time, previous jobs, university, or your childhood. But hands on experience is an absolute must.
+
+About OneSecondDelivery
+
+We are creating a food delivery app that uses autonomous drones to deliver the food. We deliver everything 5 times faster and 100 times cheaper, thanks to small autonomous delivery-robots. The Company was founded in 2017 by a leading expert on drone legislation and a successful e-commerce entrepreneur. The Swiss Federal Institute of Technology’s Vice Presidency of Innovation has recognized the large potential of this project and has supported us with the XGrant Prize and other resources.
+
+How to apply:
+
+22. Send us your CV to jobs@onesecdelivery.com
+23. Take 30 minutes of focused time to complete this problem solving test: [http://onesecdelivery.com/problem-solving-test.html?Company=OneSec-Manufacturing](http://onesecdelivery.com/problem-solving-test.html?Company=OneSec-Manufacturing)
+24. Take 5 minutes to complete this personality quiz: [http://onesecdelivery.com/disc-test.html?Company=OneSec-Manufacturing](http://onesecdelivery.com/disc-test.html?Company=OneSec-Manufacturing)
+
+Job Type: Full-time
+
+Location: Lausanne, Switzerland
+
+*****application deadline ending soon, apply now*****

OneNote/OSD/Admin and General/Gedanken.md

@@ -0,0 +1,10 @@
+Ich fühle mich unwohl bei OSD und denke das wir uns selber verarschen indem wir sagen wir hätten die beste Technologie der Welt. Wir haben es noch nicht einmal fertig gebracht eine Drohne zum fliegen zu bringen.
+
+Ich bin damit einverstanden dass Optimismus gesund ist und dadurch mehr erreicht wird als mit striktem Realismus möglich wäre. Doch komplett überrissener Optimismus wie wir in betreiben führt zu einer Blase aus der wir nicht mehr hinaus sehen können.
+
+Die Firmenmentalität finde ich spannend (optimismus und Behnehmen als ob wir bereits ein Weltkonzern sind), jedoch bin ich davon überzeugt das eine Teambildubg auch auf psychologischer und sozialer Ebene wichtig ist, was bisher komplett vernachlässigt geworden ist.
+
+  
+  
+
+In meinem Arbeitsalltag bin ich unzufrieden, da ich alleine für viel zu viele Dinge verantwortlich bin und nichts wirklich abschliessen kann, geschweige dann in Höchstqualität abliefern kann, was eine Notwendigkeit ist mit den Aspirationen die OSD hat.

OneNote/OSD/Admin and General/General Philosophy.md

@@ -0,0 +1,7 @@
+- [ ] Use a more scientific approach
+
+- [ ] Start with research & hypothesis
+
+- [ ] Make experiments and collect data
+
+- [ ] Conclude and reiterate.

OneNote/OSD/Admin and General/Hover the Prototype.md

@@ -0,0 +1,16 @@
+1. - [ ] Dry setup without propellers
+    
+    1. - [ ] Calibrate px4 and sensors
+    2. - [ ] Calibrate servos in mixer
+    3. - [ ] Attach servos to swashplate and test to extrema--> any mechanical limits hit?--> is neutral position correct?-->Which one is neutral position?
+    4. - [ ] Calibrate ESC's
+    5. - [ ] Move drone body and see swashplate reaction of controller--> correct reaction?
+2. - [ ] Attach propellers and repeat 1c. (wear helmet and goggles)
+3. - [ ] Make legs and protective devices for wings
+4. - [ ] Try to hover on grass
+
+# Todos
+
+- [ ] Make mock-up model that can crash a thousand times.
+
+- [ ] Measure weight of drone

OneNote/OSD/Admin and General/Interview Alex- 12821.md

@@ -0,0 +1,67 @@
+# Plan
+
+1. Say i'm recording
+2. Ask to tell you what had already been discussed with dannick
+3. Talk about his experience:
+4. Explain high level electrical system
+  
+
+  
+  
+
+# Electrical System
+
+  
+  
+  
+
+- Show high level block diagram
+- Show what we have:
+    
+    - Power Distribution Board
+    - Carrierboard for google corals
+- Explain what we want:
+    
+    - Carrierboard including the flight controller FMU v6
+    - Power distribution board V2
+    - Integration into drone
+- What problems are there:
+    
+    - Electrical interference: GNSS high precision, LTE, RF frequencies, high current motors
+    - Redundancy: custom ESC solution
+      
+    
+
+  
+
+# Prepare
+
+- [ ] PDB and Carrierboard
+
+- [ ] Show Pinout px4
+
+  
+
+# Questions
+
+- [ ] What equipment do you need?
+
+- [ ] What is your understanding of the different protocols?
+
+- [ ] CAN?
+
+- [ ] SPI, UART, I2C?
+
+- [ ] What's the approach to redundancy?
+
+- [ ] What is your experience with EMI?
+
+- [ ] RF-Design?
+
+- [ ] How have you worked in your other jobs?
+
+Have you worked19.08.21 s?
+
+EMI?
+
+Have you worked with gps, lte, cameras

OneNote/OSD/Admin and General/Interview Elmar - 250521.md

@@ -0,0 +1,63 @@
+# Plan
+
+1. Say i'm recording
+2. Ask to tell you what had already been discussed with dannick
+3. Talk about his experience:
+    
+    1. Uppsense
+    2. Have you designed pcbs before? What sort of PDB?
+    3. What were typical courses which apply to this job?
+4. Explain high level electrical system
+  
+
+  
+  
+
+# Electrical System
+
+  
+  
+  
+
+- Show high level block diagram
+- Show what we have:
+    
+    - Power Distribution Board
+    - Carrierboard for google corals
+- Explain what we want:
+    
+    - Carrierboard including the flight controller FMU v6
+    - Power distribution board V2
+    - Integration into drone
+- What problems are there:
+    
+    - Electrical interference: GNSS high precision, LTE, RF frequencies, high current motors
+    - Redundancy: custom ESC solution
+      
+    
+
+  
+
+# Prepare
+
+- [ ] PDB and Carrierboard
+
+- [ ] Show Pinout px4
+
+  
+
+# Questions
+
+- [ ] What equipment do you need?
+
+- [ ] What is your understanding of the different protocols?
+
+- [ ] CAN?
+
+- [ ] SPI, UART, I2C?
+
+- [ ] What's the approach to redundancy?
+
+- [ ] What is your experience with EMI?
+
+- [ ] RF-Design?

OneNote/OSD/Admin and General/Interview Francesc Trunas - 120521.md

@@ -0,0 +1,60 @@
+# Plan
+
+1. Say i'm recording
+2. Ask to tell you what had already been discussed with dannick
+3. Talk about his experience:
+    
+    1. What is bidirectional voltage source converter, what did he do in that project?
+    2. What kind of PCB did you design?
+    3. Torque Vectoring Control
+    4. What is a Flying Capacitor Converter (FCC)?
+4. Explain high level electrical system
+  
+
+  
+  
+
+# Electrical System
+
+  
+  
+  
+
+- Show high level block diagram
+- Show what we have:
+    
+    - Power Distribution Board
+    - Carrierboard for google corals
+- Explain what we want:
+    
+    - Carrierboard including the flight controller FMU v6
+    - Power distribution board V2
+    - Integration into drone
+- What problems are there:
+    
+    - Electrical interference: GNSS high precision, LTE, RF frequencies, high current motors
+    - Redundancy: custom ESC solution
+      
+    
+
+  
+
+# Prepare
+
+- [ ] PDB and Carrierboard
+
+- [ ] Show Pinout px4
+
+  
+
+# Questions
+
+- [ ] What equipment do you need?
+
+- [ ] What is your understanding of the different protocols?
+
+- [ ] CAN?
+
+- [ ] SPI, UART, I2C?
+
+- [ ] What's the approach to redundancy?

OneNote/OSD/Admin and General/Interview Raphael Kläy - 250521.md

@@ -0,0 +1,63 @@
+# Plan
+
+1. Say i'm recording
+2. Ask to tell you what had already been discussed with dannick
+3. Talk about his experience:
+    
+    1. 3Phase inverter --> tell me about it
+    2. Have you designed pcbs before? What sort of PDB?
+    3. What were typical courses which apply to this job?
+4. Explain high level electrical system
+  
+
+  
+  
+
+# Electrical System
+
+  
+  
+  
+
+- Show high level block diagram
+- Show what we have:
+    
+    - Power Distribution Board
+    - Carrierboard for google corals
+- Explain what we want:
+    
+    - Carrierboard including the flight controller FMU v6
+    - Power distribution board V2
+    - Integration into drone
+- What problems are there:
+    
+    - Electrical interference: GNSS high precision, LTE, RF frequencies, high current motors
+    - Redundancy: custom ESC solution
+      
+    
+
+  
+
+# Prepare
+
+- [ ] PDB and Carrierboard
+
+- [ ] Show Pinout px4
+
+  
+
+# Questions
+
+- [ ] What equipment do you need?
+
+- [ ] What is your understanding of the different protocols?
+
+- [ ] CAN?
+
+- [ ] SPI, UART, I2C?
+
+- [ ] What's the approach to redundancy?
+
+- [ ] What is your experience with EMI?
+
+- [ ] RF-Design?

OneNote/OSD/Admin and General/Job Postings.md

@@ -0,0 +1,9 @@
+- [ ] Embedded Hardware Engineer --> Electronics
+
+- [ ] Control Engineer --> Flight Control System
+
+- [ ] PX4 Engineer (Allround Engineer) --> support Inigo (I think it is more complex than we think it is)
+
+- [ ] App Designer (Backend & and a little front end)
+
+- [ ] Basestation Designer (Fleet management system, automated communication with other aerial vehicals)

OneNote/OSD/Admin and General/Meeting Minutes Dannick 11.1.2021.md

@@ -0,0 +1,7 @@
+Key Points
+
+- Ich mache weiter von Zürich aus
+- Salär: ich behalte extra 15000 aber kriege nur ca 66% der aktienanteile für diese Monate. Ich verliere 0.165% in optionen für 15000 --> Stimmt das für mich?
+- Vielleicht eher control system übernehmen? --> erfahrungen in verschiedensten Bereichen --> gut um später CTO zu werden, gut weil einfacher von Zürich aus
+- Ich commite noch einmal 6 Monate nach Ende März
+- Timeline: januar anfang investorensuche, ziel in 6 Monaten Geld, Dannick ende März 100% OneSecDelivery SORA weg.

OneNote/OSD/Admin and General/OSD Finances CF.md

@@ -0,0 +1,5 @@
+# Open Expenses
+
+- [ ] Rent July (850.-)
+
+- [x] Sbb billete woche in lausanne?

OneNote/OSD/Admin and General/Planning Dec 21.md

@@ -0,0 +1,32 @@
+# Business
+
+# Software
+
+# Hardware
+
+# Admin & Team
+
+- [ ] Organize jira/scrum/confluence
+
+# Questions
+
+- [ ] Rent July als Spesen 850.-
+
+- [ ] Vertrag aktienkauf unterzeichnen
+
+- [ ] Arbeitsvertrag machen
+
+- [ ] Spesen: 50.- tanken dannick lausanne cash
+
+# Team
+
+  
+
+Steps
+
+1. Make rotorhead that does not disattach
+2. Make flight tests
+
+- Pay 13.49 aufs konto für aktien
+- 850 + 50 + zugbillet spesen
+-

OneNote/OSD/Admin and General/Planning Electronics March-Mai.md

@@ -0,0 +1,151 @@
+# Dependencies
+
+- Form factor from mechanical engineering
+    
+    - --> where to place antenna connectors?
+    - --> where to place pdb?
+    - --> where to place batteries? What form factor for batteries?
+- Protocol decision to know what pinout we need.
+
+# Schematics
+
+Estimate: 16 days
+
+1. - [ ] Add main components
+    
+    1. - [ ] SOM connector
+    2. - [ ] LTE-Chip
+    3. - [ ] All connectors (generic with #pins correct)
+    4. - [ ] Additional pins that could be useful, all in one connector. 1
+    5. - [ ] All power Ics, which ones? What are requirements? 2
+2. - [ ] Add supportive passive components for Ics according to their datasheets 4
+3. - [ ] Think about redundancy and fuses. Protect from different faults. 2
+4. - [ ] Have a working camera solution. What cameras are compatible with MIPI and Qualcomm?What connector do we want for them? 4 --> inigo needs to find a solution
+5. - [ ] Schematics review. Double check with all datasheets that things are in order. 3
+    
+    1. - [ ] Go through every net and define purpose. Is it only connected to that net?
+
+# PCB Design
+
+Estimate: 15 days
+
+1. - [ ] Define form factor with Romain. Think about manufacturability from beginning. 4
+    
+    1. - [ ] download 3d model of SOM and connector.
+    2. - [ ] Define plate with +- 7mm or so for pcb and components.
+    3. - [ ] Use as structural element?
+    4. - [ ] Where will PDB be?
+        
+        1. - [ ] How are the 2 boards connected?
+    5. - [ ] Should we have a third board? --> sensor board, additional imus and gps
+    6. - [ ] Where the batteries?
+2. - [ ] Define min track width, stackup, etc.
+3. - [ ] Define main areas (power switching far away from analog signals) and place main components. 1
+4. - [ ] What can be underneath the SOM?
+5. - [ ] Place components and use as small components as possible. 3
+    
+    1. - [ ] Use both sides of the board to make it small.
+6. - [ ] Redo schematics review. 1
+7. - [ ] Route high speed signals and antenna tracks 3
+8. - [ ] Route other data tracks 2
+9. - [ ] Add planes. 1
+10. - [ ] Add stitching vias everywhere.
+11. - [ ] Review design.
+
+# Requirements
+
+- [ ] UART to PX4 (with jst connector)
+
+- [ ] Connector for GPS-module / pixhawk standard?Or Integrated GPS module? Or both
+
+- [ ] Connector for UAVCAN
+
+- [ ] For RB5s
+
+- [ ] To Esc (with a solder bridge). If dshot escs can is routed onboard, else via escs
+
+- [ ] Which one is terminating node?
+
+- [ ] LTE-link (one 4g, one LTE-M)
+
+- [ ] 2 Cameras per computer (or 4 through mipi splitter?)
+
+- [ ] Power delivery network
+
+- [x] Connection between Qualcomms (ethernet vs usb-c)
+
+- [ ] Wifi and bluetooth.
+
+- [ ] Can the antenna connector on the SOM be used?
+
+- [ ] Document every decision and step
+
+- [ ] GPIO to reset other qualcomm
+
+- [ ] GPIO to reset FC
+
+- [ ] Main switch to
+
+# Preparation
+
+Estimate: 7 days
+
+1. - [ ] Understand Qualcomm platform 2 days
+    
+    1. - [ ] How is power routed exactly?
+    2. - [ ] How are camera signals routed?
+2. - [ ] Decide which ports are going to be used for what peripherals 0.5
+3. - [ ] Choose LTE-chip 0.5
+    
+    1. - [ ] --> 4G chip (redundant)
+        
+        1. - [ ] How can we control drone through 4G?
+4. - [ ] Choose GPS solution / chip or external 1
+    
+    1. - [ ] Are there any high precision modules available on the market?
+    2. - [ ] Can we easily implement them into our design and manufacturing?
+5. - [ ] Decide on solution for inter-RB5 communication 1
+    
+    1. - [ ] PCIe ethernet & usb-c receptacle? We can test both simultaneously.
+    2. - [ ] Test with corals: usb-c to usb-a: always feasible?
+    3. - [ ] Implement both? --> not for redundancy reasons.
+    4. - [ ] --> usb-c!
+6. - [ ] Define all pins that could be needed and provide them through a connector 1
+    
+    1. - [ ] All uart ports, all i2c, all SPI. Nets to observe for debugging.Power rails to observe, additional gpios
+7. - [ ] Decide what power rails are needed, how many voltages, redundancy? 1
+
+# Questions to answer
+
+- [ ] Have we tested everything we could in the prototype stage? With breadboards and jumper cables, etc?
+
+- [ ] What sensors do we want?
+
+- [ ] A few temperature sensors on I2C bus
+
+- [ ] Additional IMU's? away from ESCs
+
+  
+
+- [ ] Redundancy: split into 2 boards? Electrical isolation?
+
+- [ ] Does the SOM have wifi antenna and bluetooth antenna?if not, what antenna do we use? Pcb antenna integrated into our design? Or pluggable antenna?
+
+- [ ] Do we want flash storage? To collect datasets. Or is onboard storage enough
+
+  
+
+# Review, Order & Shipping
+
+Estimate: 2 + 15
+
+1. - [ ] Redo reviews (schematics and pcb) with other person.
+2. - [ ] Order
+3. - [ ] Shipping
+
+# Testing & Debugging
+
+Estimate: 7 days (can be a lot longer if board doesn't work)
+
+1. - [ ] Define tests
+2. - [ ] Execute Tests & document results

OneNote/OSD/Admin and General/Planning Post Covid.md

@@ -0,0 +1,122 @@
+# Hardware
+
+  
+
+- [ ] Make the prototype hover
+
+- [x] Build Mock-up body to not destroy it while testing
+
+- [x] Servo calibration
+
+- [ ] Test without propellers
+
+- [ ] Add propellers
+
+- [ ] Control system check by flying while holding
+
+- [ ] Look at logs, do they contain all variables that should be monitored?
+
+- [ ] Do we need to customize the log?
+
+- [ ] Does the control system input look healthy?
+
+  
+  
+
+- [ ] Make redundant esc's
+
+- [ ] Proof of work:
+
+- [ ] Using 2 vescs and a custom application show that 2 vescs can control a single motor
+
+- [ ] Where does the error signal come from? How can we generate it / monitor the health of the esc?
+
+  
+  
+
+- [ ] Version 2 of PDB
+
+- [ ] Make 5V rail and 7.4V rail redundant!
+
+- [ ] Formfactor & Weight!
+
+  
+
+- [ ] Carrierboard No. 2
+
+- [ ] Coral vs Qualcomm --> See performance etc. with Iñigo
+
+- [ ] If Coral
+
+- [ ] Decide on cameras and make custom connector
+
+  
+  
+
+- [ ] Sensors & Actuation
+
+- [ ] GPS: Decide which GPS modules & antennas
+
+- [ ] --> test performance between ZED & NEO (with and without correction services)
+
+- [ ] Test antenna performance
+
+- [ ] IoT: Is SARA chip enough? --> make or use API to integrate SARA into our ROS system.
+
+- [ ] Define purpose precisely of SARA Chip. What needs to be communicated? What packages exchanged?
+
+- [ ] Airspeed sensor
+
+- [ ] Test windspeed sensor when it arrives
+
+- [ ] How important is it? Do we manage without?
+
+- [ ] Research Stall and stall detection (can It be detected without windspeed sensor?)
+
+- [ ] What is the lifetime of the servos? Can we find better servos?
+
+- [ ] What servos does nasa use on their Ingenuity copter? --> Maxon
+
+- [ ] Send email to maxon
+
+- [ ] Are there servos that run on 6s? --> would greatly simplify pdb.
+
+# Software
+
+- [ ] Sensors & Actuation
+
+- [ ] Attach GPS Module to PX4
+
+- [ ] Does it work?
+
+- [ ] How do we need to tweak it?
+
+  
+
+- [ ] Communication High level
+
+- [ ] What packages are being sent between corals and px4?
+
+- [ ] What data needs to be shared? (make a list! GPS, etc.)
+
+- [ ] Redundancy
+
+- [ ] How do we run 2 px4s in parallel?
+
+- [ ] Make high-level node graph of our architecture
+
+- [ ] What nodes work fine, what nodes need to be implemented?
+
+- [ ] Make requirements list of PX4 part. Is it suited as it is or does it need to be modified?
+
+- [ ] Low-level Communication
+
+- [ ] UAVCAN vs other protocols
+
+- [ ] Qualcomm vs Coral. 
+
+# Modelling & Control System
+
+- [ ] Make the prototype hover like a heli
+
+- [ ] Model the drone with matlab and come up with strategy for control system

OneNote/OSD/Admin and General/Stuff I need.md

@@ -0,0 +1,43 @@
+- [ ] Oscilloscope
+
+- [ ] PDB
+
+- [ ] Multimeter
+
+- [ ] Jumper cables
+
+- [ ] Breadboard
+
+- [ ] Resistors
+
+- [ ] Pot
+
+- [ ] VESCS
+
+- [ ] Usb-cables
+
+- [ ] Swd Programmer
+
+- [ ] Powersupply
+
+- [ ] Arduino uno & every
+
+  
+
+Honey
+
+  
+
+Steckleiste
+
+  
+
+- [ ] Computer
+
+- [ ] Screen
+
+- [ ] Keyboard
+
+- [ ] Mouse
+
+- [ ] Thumbdrive

OneNote/OSD/Admin and General/TODO.md

@@ -0,0 +1,61 @@
+# Short Term
+
+- [ ] Record new data with same script
+
+- [ ] 0 period at start and end
+
+- [ ] Include 0-10% mod in steps of 1%
+
+- [ ] Record mechanical symmetry experiment
+
+- [ ] Roll-pitch circle at constant modulation and constant throttle.
+
+- [ ] Thrust drop experiment
+
+- [ ] Is there a thrust drop when modulating
+
+- [ ] Fit angle adjuster
+
+1. - [ ] Collect data points and preprocess them (LP-filter, drift correction, gaussian fit: is it normally distributed?)
+2. - [ ] Fit different functions
+3. - [ ] Implement correction algorithm
+4. - [ ] Evaluate ajuster --> plot should show always same angle.
+5. - [ ] Repeat 1-4 until good results
+
+- [ ] Implement on PX4
+
+- [ ] Repair drone to make it flyable.
+
+  
+
+Data Analysis
+
+- Add lower RPM data 0-2000 RPM with modulations
+-   
+    
+
+  
+
+# Mid Term
+
+- [ ] OneSec Data analysis library
+
+- [ ] Drift-correction function
+
+- [ ] Force Torque analysis class
+
+- [ ] Properly implement PX4 code with upstream. Nice commits and comments
+
+- [ ] Look at Jerrys code
+
+- [ ] Good habits?
+
+- [ ] Do presentation with git and how we want to develop.
+
+- [ ] Implement circular roll-pitch input in PX4
+
+- [ ] Test it's influence
+
+# Long Term
+
+# Brain Drain

OneNote/OSD/Admin and General/Todo 1.md

@@ -0,0 +1,104 @@
+# Today
+
+- [ ] Unified naming system of prototypes and versions. For all hardware and all software
+
+- [ ] Sensor integration virtual swashplate into px4
+
+- [x] Github
+
+  
+
+# Later at some point
+
+- [ ] Fuse system. What fuse to place where and how to separate different parts?
+
+- [ ] Find temperature sensors and integrate onto pcb (where main components are)
+
+- [ ] Finish schematics TOBY L210
+
+- [ ] Finish connection camera connector to SOM
+
+- [ ] Fan connector
+
+- [ ] Decide on GNSS solution with Dannick
+
+- [ ] Power button to other qualcomm and possible physical switch as well.
+
+- [ ] Order latching cables and crimp set
+
+- [x] Add DEBUG UART Testpoints or pins
+
+# Completed
+
+- [x] Send email to Atlantik Elektronik, confirming reception of vision system
+
+- Confirm reception
+- We broke camera, while testing --> are there replacements?
+- Camera works for us --> is it possible to customize the camera? (longer cable, different lens
+- Heat dissipation for camera
+- Heat dissipation for SOM (do they have any values?)
+- How to send original unit back?
+- For custom carrier-board. Can wifi/bluetooth antennas on SOM be used?
+- Are there any more resources available? (schematics of SOM?)
+
+# Swashplate Analysis
+
+- [ ] How bad are the vibrations?
+
+- [ ] What are the steps needed to make it fly?
+
+  
+  
+
+1. Test without motors: Is swashplate well calibrated?
+2. Test vibrations of one motor and the other and together without propellers.
+    
+    1. Analyze the data (vibration analysis & rpm feedback)
+    2. Are the main vibration frequencies related to the rpm?
+    3. What are the causes of those vibrations?
+    4. Are they problematic?
+3. Are the motor shafts thick enough?
+
+# Electronics Thoughts
+
+- [ ] PDB is bad! No regenerative breaking possibility included. If used with regenerative breaking escs there will be huge voltage spikes which damage other things.
+
+  
+
+# Mid-Term
+
+- [ ] Prepare meeting Dannick allgemeine situation
+
+- [ ] Wie geht es mir?
+
+- [ ] Lösungsvorschläge?
+
+- [ ] Was stört mich an der ganzen Situation?
+
+- [ ] Meeting Dannick Drive Train
+
+- [ ] Übersichtsdokument:
+
+- [ ] Swash: probleme was probiert mögliche lösungen
+
+- [ ] Virt swash: probleme was probiert mögliche lösungen
+
+  
+
+# Short-Term
+
+- [ ] Test twisted vs normal props
+
+- [ ] Tune control system rate controller
+
+- [ ] Implement position control and tune
+
+- [ ] RTK?
+
+- [ ] Optical Flow?
+
+- [ ] Discuss with Dannick
+
+- [ ] Sign contracts for stock and employment
+
+# Long-Term

OneNote/OSD/Admin and General/Tools.md

@@ -0,0 +1 @@
+[https://www.ecalc.ch](https://www.ecalc.ch)

OneNote/OSD/Assembly/Dos & Don'ts.md

@@ -0,0 +1,5 @@
+Dos
+
+- Keep wires as short as possible.
+- [Twist battery cables](https://www.4qd.co.uk/docs/good-wiring-practise/) and motor cables to reduce loop inductance --> less interference
+- [Add ferrite chokes](https://www.4qd.co.uk/docs/motor-noise-suppression/) and other filters to reduce spikes

OneNote/OSD/Atlantik/Atlantik - 27.10.21.md

@@ -0,0 +1,19 @@
+# Vorbereitung
+
+  
+
+## Fragen
+
+### Service Package
+
+- Service Period
+
+  
+
+## State of the Art - Electronics
+
+### Main Board
+
+  
+
+![Exported image](Exported%20image%2020231126171831-0.jpeg) ![Exported image](Exported%20image%2020231126171831-1.jpeg)

OneNote/OSD/Atlantik/Atlantik - 5.5.21.md

@@ -0,0 +1,34 @@
+# Questions
+
+- [ ] Fragen in Mail
+
+- [ ] Software support included in the support package
+
+# Notes
+
+- RB5 related products: leadtime of up to 36 weeks!
+- We can order a bundle with Atlantik Elektorik, they provide both EG25 and other quectel modules.
+- AE has Antenna specialists, which can take a look at our design
+- We are leaving the free support package… What support do we want in the future?
+- Thundercomm has turn-key solutions, where they provide the whole PCBA. They can manufacture them and assemble them, including their SOM.
+    
+    - - [ ] What are their capabilities?
+    - Advantage, because thundercomm will be interested in producing everything on time.
+- We could (and maybe should) work together with Thundercomm. They have large expertise in drone electronics, since they have produced the electronics for several drone companies (e.g. parrot).
+  
+
+  
+
+# Todo
+
+- [ ] Block Diagram mit AE teilen
+
+- [ ] Decide with Dannick if we need level 2 or 3 of support. Or customized support package.
+
+- [ ] Haben wir NDA unterzeichnet?
+
+- [ ] @Dominik, hast du news bezüglich Design files? Du hast letztes Mal gesagt du würdest Atlantik Elektronik fragen.
+
+  
+
+Mit Zlatko und Dominik

OneNote/OSD/Atlantik/Zlatko - 21.10.21.md

@@ -0,0 +1,29 @@
+**Keypoints**
+
+- They (thundercomm and AE) start to worry about our project, since we never paid money for support, nor presented a real business plan.
+- They want to see finances and actual time to market planning
+- They need some food from us to continue
+- They are convinced from our idea and application,
+- We need to sign a contract, which is binding (we pay for it) which will accelerate everything drastically.
+
+**Thundercomm**
+
+- Adapted german law (NDAs etc)
+- Only manufacturer that is willing to do customized support and customized solutions together with
+- In order to move fast and have a short time to market they want to give us custom support. It will obviously cost something.
+- Not every hour is measured, what they ultimately care about is the salesnumber of their soms.
+- Customization is no problem at all, they can do the entire design for us if we wanted that. But they need to see numbers and the businessplan.
+- Their main goal for Europe: growth
+- 3 pillars: applications, customers and technology
+
+# Todos
+
+- [ ] Get business plan and financing info
+
+- [ ] Make convincing presentation of ourselves
+
+- [ ] Send email (zlatko & dominik in cc) with that info, this will fuel everything
+
+  
+
+![一 冫 匕 0 ; 乙 ](Exported%20image%2020231126171832-0.jpeg)

OneNote/OSD/Battery/Requirements.md

@@ -0,0 +1,18 @@
+- Overcurrent protection
+- Overcharging over discharging protection
+- Over-voltage, under-voltage
+- Under temperature
+- Switch to shut off the battery
+- Balanced charging
+- Communication with system (can? I2C?)
+    
+    - Cell voltages
+    - State of Charge (SoC)
+    - State of health (SOH) capacity compared to initial capacity
+    - Temperatures
+    - Current
+    - State of Safety (any safety indication: combination of SoC, SOH, temperatures, currents, etc.)
+    - Energy delivered since last charge
+    - Internal impedance --> can be used to estimate when to replace battery
+    - Coulomb counter (how much charge delivered so far and how much is stored?
+    - Total number of cycles

OneNote/OSD/CarrierBoard/Baseboard Design.md

@@ -0,0 +1,31 @@
+## Requirements
+
+Mini-usb connector
+
+Power
+
+Camera connector
+
+Hdmi?
+
+Females for Coral SoM
+
+## How to connect to the cameras?
+
+* make internal usb-hub? 2 usb2.0 to usb3? [http://www.ti.com/product/TUSB8020B](http://www.ti.com/product/TUSB8020B)
+
+See files here [https://hackaday.io/project/20790-nanohub-tiny-usb-20-and-30-hubs](https://hackaday.io/project/20790-nanohub-tiny-usb-20-and-30-hubs)
+
+[https://github.com/ltomov/4-port-usb-hub](https://github.com/ltomov/4-port-usb-hub)
+
+[https://stackoverflow.com/questions/41642846/how-can-i-use-get-data-from-a-camera-using-the-i2c-and-arduino-or-raspberry-pi-3](https://stackoverflow.com/questions/41642846/how-can-i-use-get-data-from-a-camera-using-the-i2c-and-arduino-or-raspberry-pi-3)
+
+[https://www.microchip.com/design-centers/usb/usb-hubs-and-devices/products/usb-hubs](https://www.microchip.com/design-centers/usb/usb-hubs-and-devices/products/usb-hubs)
+
+[https://superuser.com/questions/1159167/usb-2-0-high-speed-on-all-ports](https://superuser.com/questions/1159167/usb-2-0-high-speed-on-all-ports)
+
+[https://superuser.com/questions/1234113/how-to-get-more-full-speed-usb-2-0-ports-on-a-modern-laptop](https://superuser.com/questions/1234113/how-to-get-more-full-speed-usb-2-0-ports-on-a-modern-laptop)
+
+  
+
+Maybe use other camera?

OneNote/OSD/CarrierBoard/CAD - Software.md

@@ -0,0 +1,3 @@
+KiCad - Open Source
+
+What could be used to simulate a circuit?

OneNote/OSD/CarrierBoard/Debugging V0.1.2.md

@@ -0,0 +1,47 @@
+Preparation
+
+- [x] How to integrate sara chip. Get LTE-M sim-cards.
+
+- [ ] Testing Protocol: Define exactly what tests are being done and why and write everything down.
+
+- [ ] How can I use JTAG?
+
+- [ ] Buy Heat camera
+
+**Todo Working Verification:**
+
+1. - [x] Visual Inspection. Are all parts at the right place?
+2. - [x] Power Inspection. Hook up 5V supply and test all power rails.
+3. - [ ] LED inspections. Are the LED's working as expected?  
+    No. Orange led is to weak. Blue led is always on, without network connection.
+4. - [x] See if coral works. Can I ssh into it?
+5. - [x] Test connectors. USB-A, USB-C
+6. - [ ] Test connection through UART-pins to flight controller
+7. - [x] Test fan: Does it work properly?
+8. - [ ] Test SARA-Chip. Does it boot? Can I communicate with coral? Read instructions carefully.
+9. - [ ] Test arducam with google coral: Is a custom driver needed?  
+    It has not worked so far.
+10. - [ ] Test Usb-cams with coral: does this work?  
+    Yes it worked without any problems.
+11. - [ ] Test both UART connections: do they send what you want?  
+    
+12. - [ ] Is I2C working properly?
+13. - [ ] Use JTAG to verify proper functionality:
+14. - [ ] Is WIFI and Bluetooth working properly, or is it interfering with something?
+
+**Todo Performance Testing:**
+
+1. Compare different antennas: All for the same SARA and then do bandwidth test in different conditions: Indoors, Outdoors, underneath trees, between skyscrapers, around glass, etc.
+2. Compare usb plugs on both sides: Is there a bandwith difference? Use iPerf for testing
+3. Test connection between corals through usb-c: does it work? What bandwitdth? Compare to 2 devboards.
+4. Measure current draw of the whole board
+5. Is airflow from drone enough? Measure temperature.
+6. Heat camera: look at thermal performance of pcb. Are there areas where it can be improved
+
+Possible fixes for problems:
+
+Quickly make intermediate board: double sided with coral connectors. Like that you can access the pins that are hidden.
+
+Questions:
+
+- [ ] Why is orange led so weak?

OneNote/OSD/CarrierBoard/Design Rules Overview.md

@@ -0,0 +1,42 @@
+## MIPI design Rules
+
+Goal: 100 Ohm Impedance
+
+  
+
+Track width:
+
+Track spacing:
+
+  
+
+Via hole:
+
+Via size:
+
+Via spacing:
+
+  
+  
+
+## USB micro design Rules
+
+Goal: 90 Ohm differential Impedance and 90 ohm differential via impedance
+
+  
+
+Track width: 0.2032 mm
+
+Track spacing: 0.127mm
+
+Gives 89,886 Ohm
+
+  
+
+Via hole: 0.2
+
+Via size: 0,75
+
+Via spacing: 0,85
+
+Gives 89,834 Ohm

OneNote/OSD/CarrierBoard/Design Rules.md

@@ -0,0 +1,13 @@
+## Controlled Impedance
+
+[http://design.iconnect007.com/index.php/article/62513/what-is-trace-impedance-and-why-do-we-care/62516/](http://design.iconnect007.com/index.php/article/62513/what-is-trace-impedance-and-why-do-we-care/62516/)
+
+  
+
+## Dont forget at end:
+
+- Double check impedance control
+    
+    - includes vias and removing of stubs (backdrilling of vias)
+- No traces at board edge
+- Many stitching vias everywhere

OneNote/OSD/CarrierBoard/Electronic Topics to Learn.md

@@ -0,0 +1,3 @@
+[What are shunts?](https://en.wikipedia.org/wiki/Shunt_(electrical))
+
+Transmission Line Theory

OneNote/OSD/CarrierBoard/Ethernet research.md

@@ -0,0 +1,42 @@
+Question stack exchange EE
+
+  
+
+Hello
+
+  
+
+My goal is to set up a high-speed network link between two identical processors (Qualcomm SOMs) that will be present on the same PCB. Since I have severe restrictions on weight I cannot use the standard ethernet way with an RJ45 and a cable to set this up. The two possible interfaces on the processors for the network link are PCIe 3.0 or a USB 3.1 GEN2 interface.
+
+  
+
+My current idea is to use an ethernet bridge IC like the [LAN7430 from microchip][1] at the PCIe-port on both processors and add a single ethernet transformer (e.g. [H5084NL from pulse electronics][2]) in between. This would set up an ethernet link 1000BASE-T between the two processors. According to [this][3] and [this question][4] the magnetics are recommended to provide a stable connection. They also mention the problem with connections that are shorter than 1m, which I don't know yet how to solve.
+
+  
+
+Is this the best solution for this problem? Since I do not have access to a MAC-port I cannot implement the direct MAC to MAC connection as proposed by [user dim in this question][4].
+
+  
+
+With this solution, using the PCIe port, I could achieve 1Gbit/s with the 1000BASE-T Ethernet. According to the USB specifications, the USB 3.1 GEN2 interface is capable of achieving up to 10 Gbit/s, which would be preferable for my application.
+
+  
+
+Is it possible to implement a reliable USB network without cable
+
+  
+  
+  
+
+[1]: [https://www.microchip.com/wwwproducts/en/LAN7430](https://www.microchip.com/wwwproducts/en/LAN7430)
+
+[2]: [https://productfinder.pulseeng.com/product/H5084NL](https://productfinder.pulseeng.com/product/H5084NL)
+
+[3]: [https://electronics.stackexchange.com/q/90330/255394](https://electronics.stackexchange.com/q/90330/255394)
+
+[4]: [https://electronics.stackexchange.com/q/378310/255394](https://electronics.stackexchange.com/q/378310/255394)
+
+  
+  
+
+[https://www.one-tab.com/page/pPYRBiErRWahS_zJR4kc7g](https://www.one-tab.com/page/pPYRBiErRWahS_zJR4kc7g)

OneNote/OSD/CarrierBoard/Final Drone Implementation.md

@@ -0,0 +1 @@
+- Use strain relief for the antennas (see [here](https://learn.sparkfun.com/tutorials/three-quick-tips-about-using-ufl))

OneNote/OSD/CarrierBoard/FlightController.md

@@ -0,0 +1,21 @@
+Partslist
+
+- [ ] Microprocessor F7
+
+- [ ] Gyro
+
+- [ ] 8MHz Oscillator
+
+- [ ] Voltage regulator 3.3V (linear vs switching or both?)
+
+- [ ] Usb connector (TX/RX) + 2x 22 Ohm R)
+
+- [ ] Shottky Diode (if 2 5V entries are there to, eliminates interference…)
+
+  
+
+Resistor sizes
+
+R: 0402
+
+C: 0805

OneNote/OSD/CarrierBoard/IoT-CHIP.md

@@ -0,0 +1,23 @@
+Overview:[https://www.digikey.com/en/articles/5g-is-a-long-way-off-use-ready-made-lte-4g-modules-remote-iot-sensing](https://www.digikey.com/en/articles/5g-is-a-long-way-off-use-ready-made-lte-4g-modules-remote-iot-sensing)
+
+[https://www.iotforall.com/cellular-iot-explained-nb-iot-vs-lte-m/](https://www.iotforall.com/cellular-iot-explained-nb-iot-vs-lte-m/)
+
+  
+  
+
+UBlox
+
+[https://www.u-blox.com/en/cellular-modules](https://www.u-blox.com/en/cellular-modules)
+
+  
+
+Sierra Wireless
+
+[https://www.sierrawireless.com/products-and-solutions/embedded-solutions/](https://www.sierrawireless.com/products-and-solutions/embedded-solutions/)
+
+  
+
+## Questions ublox
+
+- combined gps and cellular vs both as standalone?
+- SARA-R4 vs R5 vs N3 vs UBX-R5

OneNote/OSD/CarrierBoard/Learning from DJI Mavic Air.md

@@ -0,0 +1 @@
+[https://medium.com/amazing-hardware/mavic-air-2-dji-uav-disassembly-analysis-38783979b95a](https://medium.com/amazing-hardware/mavic-air-2-dji-uav-disassembly-analysis-38783979b95a)

OneNote/OSD/CarrierBoard/Lessons V0.1.2.md

@@ -0,0 +1,34 @@
+Implement in next version:
+
+- [ ] Shunt resistor to measure current draw of coral or of the whole board.
+
+- [ ] Use the same gpiopin for fancontrol as the dev-board
+
+- [ ] Better label output pins.
+
+- [ ] Make connectors asymetrical for good connections.
+
+- [ ] All pins that eventually are needed should be exposed somehow (testpoint or connector)
+
+- [ ] Add LED's to GPIO pins to know their state
+
+- [ ] Add switches or jumpers to power only certain parts of the board
+
+- [ ] Connect Enable pins of Ic's to pin headers or gpios of the processor. In case it is needed it can be used. E.g power supply of SARA chip
+
+- [ ] Add via or tp for everything you eventually want to measure.
+
+- [ ] Place testpoint on vcc on last cap before entering ic.
+
+- [ ] Add gpio level shifter
+
+- [ ] Swap rx tx sara
+
+- [ ] If v0.2 is still mainly for debugging: add buttons for reset and pwr pins: as in [this open source project](https://cdn.sparkfun.com/assets/a/c/b/1/0/lte_cat_m1_shield_sara-r4_schematic.pdf)
+
+  
+
+- Implement HDMI in first version to be able to debug: Is it even booting up?
+- Make pin connectors for all essential pins: Boot pins, boot configure pins, reset pins, etc: Like this you have the possibility to measure the signal and overwrite it if necessary.
+- First version should just be the coral connectors + power and all necessary things to boot. All other accessories
+- Ask google before starting development what is the absolute minimum bare bones for a working base-board.

OneNote/OSD/CarrierBoard/Overview.md

@@ -0,0 +1,5 @@
+Submodules
+
+- Power Distribution Board
+- Flight Controller
+- Coral SoM Footprint

OneNote/OSD/CarrierBoard/Questions for Thundercomm.md

@@ -0,0 +1,23 @@
+- [ ] Will there be a document for registers? To reprogram the QUP?
+
+- [ ] What are the transmission line pulse (TLP) ESD ratings of the SOM?
+
+- [x] Are GPIOs configurable as Open-Drain? Or are all push-pull?
+
+- [x] Max current on gpio pins?
+
+- [ ] Can we use different UART for debugging? Normally set via device tree… how can it be done with the RB5?
+
+  
+
+## Cameras
+
+- [x] Can the same camera have 2 different I2C adresses? Or do I need to use 2 buses?
+
+- [x] MIPI-lines: length matching: are the lines the same length on the SOM?
+
+- [x] Für cameras: SPI oder Control pins GPIO. See cam1 vs cam2
+
+- [x] Ask about Masterclock pins that are connected to Strobe. What are they for?
+
+- [x] Camera datasheet und navigation mezzanine: not same schematics for camera connector.

OneNote/OSD/CarrierBoard/TODO.md

@@ -0,0 +1,19 @@
+## Camera Interface
+
+- [ ] Check camera connectors once we decided on cameras. Do those mipi cameras have a reset or pwdn? update them...
+
+- [ ] Check I2C connection: --> what is it needed for?
+
+## General
+
+- [ ] Add Testpoints (TP) as in the dev-board to test circuits with multimeter/oscilloscope
+
+Do we need isolators to break ground loops?
+
+[https://www.ti.com/product/ISO7762](https://www.ti.com/product/ISO7762)
+
+  
+
+See:
+
+[https://docs.odriverobotics.com/ground-loops.html](https://docs.odriverobotics.com/ground-loops.html)

OneNote/OSD/CarrierBoard/ToDo Carrier RB5.md

@@ -0,0 +1,27 @@
+# OneSec Monocopter 1
+
+- [ ] Fast working implementation of GNSS
+
+- [ ] Worldwide LTE-Chip (Quectel)
+
+- [ ] Power Distribution
+
+OneSec Monocopter 2
+
+- [ ] Night Vision Cameras & IR-Flashlights
+
+- [ ] Solar panels from [Flisom](https://www.flisom.com/wp-content/uploads/2017/08/Datasheet_ultra-light-CIGS-eFilm-solar-cell-material.pdf)
+
+- [ ] Better Motors (custom carbonfiber)
+
+- [ ] Snapdragon 888 or later generation
+
+- [ ] Regenerative breaking
+
+- [ ] Aerodynamic improvements
+
+- [ ] Graphene Batteries (removes necessity for battery swap)
+
+- [ ] Better propeller blades
+
+- [ ] High precision GNSS + Antenna

OneNote/OSD/CarrierBoard/Todos for V0.2.md

@@ -0,0 +1,83 @@
+**GENERAL TODOS**
+
+  
+
+- [ ] Proper Power connector to connect with PDB
+
+- [ ] Our own gps module
+
+- [ ] Working heat-sink solution: --> place corals further apart from each other.
+
+- [ ] Make the board smaller! --> Weight saving, less expensive
+
+- [ ] Use both sides for components.
+
+- [ ] Put more LED's:
+
+- [ ] Make more pinouts if V0.2 is still a debug board.
+
+**Ideas:**
+
+Do we want to integrate more sensors onto the board? Temperature, pressure, gyro? #question
+
+How do we measure the position of the flaps/payload bay? #question
+
+Do we need more storage? Implement flash storage or sd-card? #question
+
+Buy sara board from [sparkfun](https://www.sparkfun.com/products/14997)?
+
+**To Decide before start:**
+
+- [ ] USB-C yes or no?
+
+- [ ] MIPI yes or no?
+
+- [x] Open drain pins: use own transistor or device tree approach? --> Open drain also for PWR_ON
+
+- [ ] DEBUG board: yes or no?
+
+- [ ] Stress test antenna sara.
+
+**Precise TODO's:**
+
+- [ ] Remap SARA Rx/Tx
+
+- [ ] Decide scope of board: still debugging?
+
+- [ ] Rewire orange coral status led: with datasheet decide current limiting resistor to have full power at steady on. --> allows to regulate dimness with pwm.
+
+- [ ] Use large size resistor for important settings: e.g. voltage regulators
+
+- [ ] Make single pin of gnd to attach oscilloscope crocodile clamp
+
+- [ ] Find Power connector to connect to PDB.
+
+- [ ] Remove 0-Ohm resistors where they are not needed anymore, but provide testpoints!
+
+- [ ] Don't use Testpoints: Use holes like jtag: you can later on add pins if needed.
+
+- [ ] Add LED to id-pin of cc-control of usb-c (it is a open drain pin) --> when pulled to gnd it should activate a transistor that connects the led to gnd.
+
+- [ ] Gpio link to do hard reset between corals.
+
+- [ ] Flight controller connectors:
+
+- [ ] 2x UART
+
+- [ ] 2x GND Power
+
+- [ ] 2x 5V Power
+
+- [ ] ?x GNSS connection
+
+- [ ] ?x GND between lines for shielding
+
+- [ ] General Connectors
+
+- [ ] 1x GND, 5V for RC (asym-conn)
+
+- [ ] 2x GND, 5V for fans (asym-conn)
+
+- [ ] 5x GND, 5V DNP conn for eventualities
+
+- [ ] same with 3.3v and 1.8V

OneNote/OSD/Checklists/Takeoff Checklist.md

@@ -0,0 +1,4 @@
+- Calibrate sensors automatically (e.g. checkboard calibration for camera distortion in ROS)
+- ![Jürgen Sturm 
+    Autonomous Navigation for Flying Robots ](Exported%20image%2020231126171848-0.png)
+-

OneNote/OSD/Control System/Controllability & Observability.md

@@ -0,0 +1,41 @@
+Xdd = Ax + Bu
+
+Y = Cx + Du
+
+  
+  
+
+A and B decide if it is controllable
+
+C and D decide if it is observable
+
+# Controlability
+
+- System can be uncontrollable linearly, but controllable non-linearly
+  
+
+  
+
+## Linear Systems
+
+1. Compute Controllability Matrix C = [B AB … A^(n-1)B]
+2. If rank( C) = n <==> controllable
+3. Singular value decomposition (SVD) tells us about:it orders singular vectors to show most controllable to least controllable states
+
+  
+
+- If system is controllable then:
+    
+    - Arbitrary eigenvalue (pole) placementu = -Kx <==> xd = (A-BK)x
+    - Reachibility (get to any state in R^n)R_t = R_n
+
+Definitions
+
+- Reachable set R_t: all vectors in Rn that can be reached zome where sys is controllable
+- Controllability Matrix: C = [B AB … A^(n-1)B]This matrix is equivalent to an impulse response in dicrete time: basically matrix says wether the control input reaches all the states eventually.
+- Controllability Gramian:W_t = 
+    
+    - ![冖 DDzYm ](Exported%20image%2020231126171851-0.png)
+- Stabilizibility: all unstable directions (eigenvectors) are controllable.
+    
+    - Unstable and lightly damped directions should be controllable!

OneNote/OSD/Control System/Learning.md

@@ -0,0 +1,13 @@
+[https://apmonitor.com/pdc/](https://apmonitor.com/pdc/)
+
+[https://apmonitor.com/pdc/index.php/Main/ModelSimulation](https://apmonitor.com/pdc/index.php/Main/ModelSimulation)
+
+[https://ch.mathworks.com/de/videos/tech-talks/controls.html](https://ch.mathworks.com/de/videos/tech-talks/controls.html)
+
+  
+
+  
+
+Good overview of drone control
+
+[A_review_on_drones_controlled_in_real-time.pdf](https://onedrive.live.com/embed?resid=D05036151E62BA13%213756&filename=A_review_on_drones_controlled_in_real-time.pdf&authkey=!AEvlrbu_TdPVjBw)

OneNote/OSD/Control System/Matlab Commands.md

@@ -0,0 +1,10 @@
+- Eye()
+- Zeros()
+- Ones()
+- Eig()
+- Step()
+- Ss()
+- Ctrb() --> contrability matrix [B AB … A^(n-1)B]
+- Rank() --> rank
+- Place() --> pole placement
+- Svd(, 'econ')

OneNote/OSD/Control System/Modelling.md

@@ -0,0 +1,10 @@
+![[eth-984-02 (1).pdf]]
+
+  
+  
+  
+  
+  
+  
+
+![[Husnic_ZelimirPhD_test.pdf]]

OneNote/OSD/Control System/Overview & Resources.md

@@ -0,0 +1,4 @@
+==A====utomatic Control Of Aircraft & Missile ( Blakelock)==
+
+  
+> From <[https://archive.org/details/AutomaticControlOfAircraftMissileBlakelock/page/n79/mode/2up](https://archive.org/details/AutomaticControlOfAircraftMissileBlakelock/page/n79/mode/2up)>

OneNote/OSD/Control System/Planning.md

@@ -0,0 +1,13 @@
+# Overview
+
+1. Make a model of our drone that is very simple
+2. Analyse the basic behaviour
+3. Define weaknesses and see wether it all works
+4. Iterate and include higher dynamics
+5. Iterate and include noise and material decay
+
+  
+
+As a quick intro and inspiration watch this:
+
+[https://www.youtube.com/watch?v=A7wHSr6GRnc&ab_channel=MATLAB](https://www.youtube.com/watch?v=A7wHSr6GRnc&ab_channel=MATLAB)

OneNote/OSD/Control System/Resources.md

@@ -0,0 +1,16 @@
+[https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Lectures/Control-Systems-2/Exercises/python-control.pdf](https://ethz.ch/content/dam/ethz/special-interest/mavt/dynamic-systems-n-control/idsc-dam/Lectures/Control-Systems-2/Exercises/python-control.pdf)
+
+  
+  
+
+# Books
+
+- Dynamical Systems with Applications using Python
+  
+
+  
+  
+
+Websites
+
+- [https://www.eigensteve.com/](https://www.eigensteve.com/)

OneNote/OSD/Courses/Arduino Low level.md

@@ -0,0 +1,34 @@
+## Timers available on Arduino Uno
+
+  
+![Name 
+TIMERO 
+TIME-RI 
+TIMER2 
+Size 
+8 bits 
+(0 - 255) 
+16 bits 
+(0 - 65,535) 
+8 bits 
+(0 - 255) 
+• 
+• 
+Possible Interrupts 
+Compare Match 
+Overflow 
+Compare Match 
+Overflow 
+Input Capture 
+Compare Match 
+Overflow 
+• 
+Uses in Arduino 
+delay(), millis(), micros() 
+analogWrite() pins 5, 6 
+Servo functions 
+analogWrite() pins 9, 10 
+tone() 
+analogWrite() pins 3, 11 ](Exported%20image%2020231126171856-0.png)  
+
+If we use Timer 0 for something else, the arduino functions delay, millis, … won't work properly anymore.

OneNote/OSD/Courses/EdX Autonomous Navigation for Flying Robots.md

@@ -0,0 +1,46 @@
+## Sensors
+
+GPS: Accuracy: 3-5m, @2Hz
+
+Indoor: 1mm @ 200-500 Hz
+
+## Research
+
+[https://vision.in.tum.de/publications](https://vision.in.tum.de/publications)
+
+  
+
+## Geometry
+
+Invert, concatenate, estimate, optimize 3D orientation
+
+## Algorithms
+
+IMU Strapdown Algorithm
+
+Control Theory
+
+![Cascaded Control 
+Robot 
+Localization 
+Attitude Estimation 
+RPM Estimation 
+Sensors 
+Jürgen Sturm 
+Trajectory 
+Position Control 
+Attitude Control 
+Motor Speed Control 
+0.1 Hz 
+10 Hz 
+1 KHz 
+10 .000 
+Actuators 
+Quadrotor 
+Physical World 
+Kinematics 
+Dynamics 
+Autonomous Navigation for Flying Robots 
+17 ](Exported%20image%2020231126171859-0.png)  
+
+Watch out: The inner control loops must be around an order of magnitude faster than the outer ones, such that they appear "static". If not you can get interference between the two

OneNote/OSD/Courses/Electrical Engineering.md

@@ -0,0 +1,13 @@
+Battery Management
+
+[https://www.coursera.org/specializations/algorithms-for-battery-management-systems](https://www.coursera.org/specializations/algorithms-for-battery-management-systems)
+
+  
+
+secondary interesting courses:
+
+  
+
+[https://www.coursera.org/learn/thermodynamics-intro](https://www.coursera.org/learn/thermodynamics-intro)
+
+[https://www.edx.org/course/robotics-foundation-ii-robot-control](https://www.edx.org/course/robotics-foundation-ii-robot-control)

OneNote/OSD/ESC/ESC implementations.md

@@ -0,0 +1,16 @@
+ST
+
+[https://www.st.com/en/evaluation-tools/steval-esc001v1.html#cad-resources](https://www.st.com/en/evaluation-tools/steval-esc001v1.html#cad-resources)
+
+  
+  
+  
+  
+  
+  
+
+TI
+
+  
+
+[https://www.ti.com/tool/TIDA-00916](https://www.ti.com/tool/TIDA-00916)

OneNote/OSD/ESC/Flipsky VESC repair.md

@@ -0,0 +1 @@
+When trying to hook up 2 esc's in parallel, the 3V3 regulator broke. Marking(LG33) It is probably a [mic5219](https://ww1.microchip.com/downloads/en/DeviceDoc/MIC5219-500mA-Peak-Output-LDO-Regulator-DS20006021A.pdf). Can be [found on digi--key](https://www.digikey.ch/product-detail/de/microchip-technology/MIC5219-3-3YM5-TR/576-1281-1-ND/771902)

OneNote/OSD/ESC/MOSFET Failure Modes.md

@@ -0,0 +1,39 @@
+# Avalanche Failure
+
+When max. voltage rating is exceeded and too much power is dissipated --> short circuit failure
+
+# dV/dt Failure
+
+High speed failure, not well understood.
+
+Voltage spike on drain --> translated to spike on gate, which destroys mosfet
+
+Happens very fast (ns)
+
+Generated by motor noise --> prevent motor noise!
+
+# Excess Power Dissipation
+
+Usually MOSFET heats up, unsolders itself!
+
+Doesn't necessarily fail.
+
+--> heat management
+
+# Excess Current
+
+High currents --> high temperatures (Power: I*I*R*t)
+
+Once again: heat management
+
+# Foreign object Damage
+
+Loose parts --> cause shorts or mechanical damage.
+
+# Jammed or blocked motor
+
+--> fast acting varistor transient absorber --> dissipates energy
+
+--> react with reducing speed in controller
+
+Rapid deceleration --> energy is gained and must be handled. Push into batteries?

OneNote/OSD/ESC/Odrive ESC open source firmware.md

@@ -0,0 +1 @@
+[https://github.com/odriverobotics/ODrive](https://github.com/odriverobotics/ODrive)

OneNote/OSD/ESC/ST-Motor Control.md

@@ -0,0 +1 @@
+[https://www.st.com/resource/en/application_note/dm00666970-current-sensing-in-bldc-motor-application-stmicroelectronics.pdf](https://www.st.com/resource/en/application_note/dm00666970-current-sensing-in-bldc-motor-application-stmicroelectronics.pdf)

OneNote/OSD/ESC/STM32 ChibiOS HAL and programming.md

@@ -0,0 +1,3 @@
+# Tutorials
+
+- [https://www.playembedded.org/blog/stm32-gpio-chibios-pal/](https://www.playembedded.org/blog/stm32-gpio-chibios-pal/)

OneNote/OSD/ESC/STM32 Resources.md

@@ -0,0 +1 @@
+[https://www.st.com/content/st_com/en/support/learning/stm32-education/stm32-moocs/Motor_Control_MOOC_Part_3.html](https://www.st.com/content/st_com/en/support/learning/stm32-education/stm32-moocs/Motor_Control_MOOC_Part_3.html)

OneNote/OSD/Evaluation/Quectel EG25-G.md

@@ -0,0 +1,15 @@
+# Tutorials and Resources
+
+[https://docs.sixfab.com/docs/getting-started-with-base-hat-and-quectel-ec25-eg25-module](https://docs.sixfab.com/docs/getting-started-with-base-hat-and-quectel-ec25-eg25-module)
+
+  
+  
+  
+
+Protocols to connect with linux
+
+- QMI
+- Gobinet
+- Wwan
+- [https://unix.stackexchange.com/questions/523321/difference-between-ppp-qmi-and-at-commands](https://unix.stackexchange.com/questions/523321/difference-between-ppp-qmi-and-at-commands)
+- [https://www.outdoorrouter.com/4g-mobile-interface-protocol-qmi-and-ppp/](https://www.outdoorrouter.com/4g-mobile-interface-protocol-qmi-and-ppp/)

OneNote/OSD/Flight Controller/Overview.md

@@ -0,0 +1,5 @@
+Good description:
+
+[https://oscarliang.com/top-5-best-fc-mini-quad/](https://oscarliang.com/top-5-best-fc-mini-quad/)
+
+[https://www.getfpv.com/learn/new-to-fpv/all-about-multirotor-fpv-drone-flight-controller/](https://www.getfpv.com/learn/new-to-fpv/all-about-multirotor-fpv-drone-flight-controller/)

OneNote/OSD/Flight Controller/Pixhawk Open Standards.md

@@ -0,0 +1,12 @@
+We could add our custom flight controller to our board, since it is all [published](https://github.com/pixhawk/Hardware)
+
+  
+
+[https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=730959725](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=730959725)
+
+Example pinout for fmuv5
+
+  
+  
+
+Newest draft: [FMUv6X](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf)

OneNote/OSD/Hardware/Can sniffer.md

@@ -0,0 +1,7 @@
+[https://www.8devices.com/products/usb2can_korlan](https://www.8devices.com/products/usb2can_korlan)
+
+kvaser leaf light v2
+
+[https://www.rusoku.com/products](https://www.rusoku.com/products)
+
+[https://www.distrelec.ch/en/can-bus-analyzer-microchip-apgdt002/p/17334511](https://www.distrelec.ch/en/can-bus-analyzer-microchip-apgdt002/p/17334511)

OneNote/OSD/Hardware/Debug Connector.md

@@ -0,0 +1,15 @@
+[https://www.digikey.ch/product-detail/de/tag-connect-llc/TC2030-IDC/TC2030-IDC-ND/4571121?gclid=CjwKCAjw-e2EBhAhEiwAJI5jg5j2k0Jl1PMG5jHqwrh3zlm3ImY4m5SeWTrA2I-qm05rjveVs6FacxoC1X8QAvD_BwE](https://www.digikey.ch/product-detail/de/tag-connect-llc/TC2030-IDC/TC2030-IDC-ND/4571121?gclid=CjwKCAjw-e2EBhAhEiwAJI5jg5j2k0Jl1PMG5jHqwrh3zlm3ImY4m5SeWTrA2I-qm05rjveVs6FacxoC1X8QAvD_BwE)
+
+  
+  
+  
+![6-pin Plug-Of-Nails™ no-legs to IDC cable 10"/254mm | Tag-Connect](Exported%20image%2020231126171916-0.jpeg)  
+  
+
+[https://www.telexsus.com/products/tag-connect/tc2030-clip-5pack](https://www.telexsus.com/products/tag-connect/tc2030-clip-5pack)
+
+  
+
+Or for 10 pins:
+
+[https://www.tag-connect.com/product/tc2050-idc-050-all](https://www.tag-connect.com/product/tc2050-idc-050-all)

OneNote/OSD/Hardware/JTAG.md

@@ -0,0 +1,21 @@
+[https://blog.senr.io/blog/jtag-explained](https://blog.senr.io/blog/jtag-explained)
+
+  
+
+What is JTAG?
+
+It's an interface to connect to a chip/pcb and to test/debug/program it.
+
+It is incredibly powerful
+
+JTAG with FlightControllers
+
+[https://discuss.ardupilot.org/t/low-level-debugging-the-stm32-and-ardupilot/49280](https://discuss.ardupilot.org/t/low-level-debugging-the-stm32-and-ardupilot/49280)
+
+  
+
+Use Probe to debug with JTAG
+
+[https://dev.px4.io/v1.10/en/debug/system_console.html](https://dev.px4.io/v1.10/en/debug/system_console.html)
+
+[https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation)

OneNote/OSD/Hardware/Overview.md

@@ -0,0 +1,3 @@
+Good Companion Computer Peripheral Overview
+
+[https://docs.px4.io/v1.9.0/en/peripherals/companion_computer_peripherals.html](https://docs.px4.io/v1.9.0/en/peripherals/companion_computer_peripherals.html)

OneNote/OSD/Highlevel Control/Obstacle Avoidance.md

@@ -0,0 +1,3 @@
+PX4 tutorial
+
+[https://github.com/PX4/avoidance](https://github.com/PX4/avoidance)

OneNote/OSD/Ideas/Drone Data Business.md

@@ -0,0 +1,9 @@
+As discussed with Dannick:
+
+Use drones to record datasets about buildings and sell them
+
+Sell weather data
+
+Sell security data
+
+...

OneNote/OSD/Ideas/Security.md

@@ -0,0 +1,23 @@
+MavLink
+
+Communication between base station and drone must be encrypted!
+
+  
+  
+
+[https://discuss.px4.io/t/mavlink-security-problem/5921/6](https://discuss.px4.io/t/mavlink-security-problem/5921/6)
+
+[https://hackaday.com/2015/10/15/hijacking-quadcopters-with-a-mavlink-exploit/](https://hackaday.com/2015/10/15/hijacking-quadcopters-with-a-mavlink-exploit/)
+
+  
+
+Paper:
+
+[1905.00265.pdf](https://onedrive.live.com/embed?resid=D05036151E62BA13%212688&filename=1905.00265.pdf&authkey=!AIRAvZFMYUQgHXk)
+
+  
+  
+
+Algorithms:
+
+Have a function on both base and drone that calculates a hash based on time and place or other things like mac address. Send hashed hash.

OneNote/OSD/Meetings/Dannick - 3.5.21.md

@@ -0,0 +1,9 @@
+# Points to discuss
+
+- [ ] News Quectel --> and strategy going forward.Meeting morgen (mit ehemaligem ublox engineer --> würde gerne viel Infos teilen, so kann ich experten meinung kriegen.)Wie würdest du requirements für GNSS definieren?- sub meter accuracy?
+
+- [ ] News Electrical Engineer? --> erzählen wie es mir gehtsobald ich in Lausanne bin.
+
+- [ ] Support package lösen? Sie sind schon nicht sehr hilfreich…Ich würde warten und das erst machen wenn neuer Electrical Engineer beginnt.
+
+- [ ] Was muss Kandidat können, damit wir support package nicht brauchen?

OneNote/OSD/Meetings/Quectel - 29.4.21.md

@@ -0,0 +1,220 @@
+# Preparation
+
+## Information
+
+- Mostly Europe, Australia, US
+  
+
+  
+
+## Questions
+
+- [x] Datasheet availability?
+
+- [x] Is Quectel EG25-G best module for us?
+
+- [x] Lead-Time
+
+- [x] Wholesale prices
+
+- [ ] Industrial/automotive grade
+
+- [ ] Reliability Testing
+
+- [ ] Certification procedure with Quectel Module?
+
+- [ ] We do not have consumer product, no CE certificate needed.
+
+- [ ] What do we need to consider?
+
+- [ ] Interface
+
+- [ ] USB 2.0
+
+- [ ] Uart?
+
+- [ ] Both simultaneously
+
+- [ ] Guaranteed time of product life (10y?)--> if qualcomm cancels they will cancel as well.they will replace it as well.
+
+- [ ] Module without GNSS?
+
+- [ ] Precision of builtin GNSS?
+
+- [ ] Effect of 1 or 2 (receive diversity antenna) Antennas?
+
+- [ ] What are expected data rates and reception coverage?
+
+- [ ] Difference formfactor? LCC / LGA
+
+- [ ] Difference LTE FDD / TDD (Frequency / Time Division Duplexing)
+
+- [ ] What chipset is used within module?Qualcomm 9X07
+
+- [ ] What is advantage of Quectel eG25-g compared to other modules?
+
+- [ ] Samples available?--> yes
+
+GNSS:
+
+Standalon required!
+
+EG25-G --> precision up to 10m can happen quite often
+
+  
+
+Why Cat4 --> 4k video feed
+
+Why international
+
+  
+  
+
+ISO16494 --> automotvie
+
+  
+
+Android smart modules
+
+  
+  
+
+360 deg support
+
+  
+![Quectel 360 Degree Support 
+1. System Evaluation 
+Analyze customer's 
+requirements 
+Recommend the right module 
+for the customer 
+Antenna placement evaluation 
+Antenna design 
+5. Mass Production 
+Provide assembly and 
+testing guidelines 
+After-sales service 
+www.quectel.com 
+On-site Support 
+support@quectel.com 
+www.quectel.com 
+2. Design In 
+Recommend referenced 
+hardware designs 
+Check schematic and layout 
+Provide software design 
+support 
+3. Prototype 
+Provide design validation testing 
+Recommend suppliers 
+4. Testing Service 
+RF testing 
+Power consumption testing 
+Audio testing 
+Reliability & environmental testing 
+ESD testing 
+Certification testing 
+Antenna debug Build a Smarter World ](Exported%20image%2020231126171926-0.png)
+
+Field engineering
+
+  
+  
+
+Certification --> we send, they do the tests then 3rd party gives certificate
+
+  
+  
+  
+  
+
+FAE Lukas
+
+  
+  
+
+Manufacturing
+
+![Manufacturers 
+Quectel modules are manufactured 
+certified factories. 
+in IATF16949, IS014000 and OHSAS18001 
+Qisda 
+Suzhou, China 
+Jiaxing, China 
+www.quectel.com 
+Changzhou, China 
+NEW GROUP 
+Manaus, Bezil 
+minc 
+Kunshan, China 
+Kulim, Malaysia 
+BuiE a World ](Exported%20image%2020231126171926-1.png)  
+
+Smart modules
+
+![Smart Module Roadmap 
+LTE cat 4 
+SC20 
+Snapdragon 
+MSM8909 
+LTE cat 4 
+SC200R 
+Snapdragon 
+OCM2150 
+LTE cat 6 
+SC600Y 
+Snapdragon 
+SDM450 
+LTE Cat 6 
+SC600T 
+Snapdragon 
+MSM8953 
+• Lie 
+• 
+LTE cat 6 
+SC66 
+Snapdragon 
+SDM660 
+• LTE 
+• WONGA O 
+SmM 
+600 ](Exported%20image%2020231126171926-2.png)
+
+Min quantity: 10k pieces.
+
+  
+  
+
+Lead time 26 weeks
+
+Prototypes 20 modules no problem.
+
+  
+
+Distributors:
+
+Package Quantity -- 250
+
+Import is difficult! Distributors have solved that problem
+
+-->Tekmodul (munich germany) good support, also with antenna design. Quectel can help as well with Antenna design (Stephan from Quectel)
+
+  
+  
+
+Wholesale < 30$ for 1k+ and 10k+
+
+  
+
+Alternative
+
+- EC200 (ASR chipset) save $5 roughly
+
+  
+
+**Certification**
+
+Test in lab
+
+CE is available for the module itself

OneNote/OSD/Meetings/Quectel - 4.5.21.md

@@ -0,0 +1,9 @@
+# Questions
+
+- [ ] What are the next steps regarding product integration?
+
+- [ ] How to proceed with design? Follow Datasheet and system integration manual?
+
+- [ ] How close is too close between LTE module, GNSS module and high current or high switching chips?
+
+- [ ] Advantage over ublox?

OneNote/OSD/Motors/BLDC Theory.md

@@ -0,0 +1 @@
+Good theory, easy to grasp: [http://web.mit.edu/first/scooter/motormath.pdf](http://web.mit.edu/first/scooter/motormath.pdf)

OneNote/OSD/Motors/Electric Motors and Drives - Hughes.md

@@ -0,0 +1 @@
+§

OneNote/OSD/PDB/5V Redundant - PMIC IC's.md

@@ -0,0 +1,9 @@
+# [LTC4418](https://www.digikey.co.uk/product-detail/en/analog-devices-inc/LTC4418IUF-PBF/LTC4418IUF-PBF-ND/7796554)
+
+  
+
+- It is a prioritizer: --> prioritizes outputs based on priority
+- With external mosfets
+- - No current sharing possible, each input must be capable of delivering full load.
+- + easy to implement
+-

OneNote/OSD/PDB/Buck Converter Learnings.md

@@ -0,0 +1,5 @@
+TI Course:
+
+[https://training.ti.com/common-mistakes-dcdc-components-features?context=1127730-1135482-1139329-1135477&cu=1135482](https://training.ti.com/common-mistakes-dcdc-components-features?context=1127730-1135482-1139329-1135477&cu=1135482)
+
+[https://www.ti.com/seclit/ml/slup384/slup384.pdf](https://www.ti.com/seclit/ml/slup384/slup384.pdf)

OneNote/OSD/PDB/Learnings.md

@@ -0,0 +1,4 @@
+- Use on board fuses to separate different circuits from each other. Eg. 7.4V regulator from 5V regulator
+- If you know that you're going to use certain signals, make a connector for them, not testpoint holes for cables --> saves a lot of time
+- Edgeplated pads work well for large currents, could also be in the middle of the board, no need to have them at the edge
+-

OneNote/OSD/PDB/Tests V0.1.md

@@ -0,0 +1,4 @@
+Add max load to dc-converters:
+
+- Observe temperature with thermal camera
+- Observe signals from dc-dc converters -- sw-node, input, output ripple, etc.

OneNote/OSD/PDB/V0.1.md

@@ -0,0 +1,11 @@
+Precise TODOS:
+
+  
+
+**Requirements**
+
+- [ ] Battery protection & redundancy
+
+- [ ] Battery status communication (load cycles, current, remaining capacity, current voltage
+
+- [ ] 5V source for carrier board

OneNote/OSD/PDB/V0.2.md

@@ -0,0 +1,7 @@
+- [ ] Add on-board fuses to separate several subcircuits. In case of failure not the entire board stops working
+
+- [ ] Solution for excess energy release (some sort of valve) e.g. regenerative breaking usually releases reverse currents into the batteries, but in our case it is blocked because of the ideal diodes. Compare [this manual](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf) page 12/39.
+
+Battery:
+
+Is it possible to have ideal diode and still use reverse currents?

OneNote/OSD/Planning/How to plan.md

@@ -0,0 +1,17 @@
+1. Project Map
+    
+    1. What is the destination
+    2. Who joins?
+    3. What are major milestones?
+    4. What obstacles and alternative routes?
+2. Stakeholders
+    
+    1. Who?
+    2. Expetations and influence?
+    3. How to use their feedback
+3. Timeline
+    
+    1. Don't be overly optimistic
+    2. Make gantt chart
+4. Recruit team
+5. Goals and scope

OneNote/OSD/Planning/Office Organisation.md

@@ -0,0 +1,13 @@
+# File System (without software)
+
+  
+
+# Reports & Documentation
+
+Wiki? #question
+
+Software Documentation directly with code? Or separate like the Docs website of px4? #question
+
+# Software & Versioning
+
+# Testing & Data management

OneNote/OSD/Planning/Planning December 21.md

@@ -0,0 +1,6 @@
+|   |   |   |   |   |
+|---|---|---|---|---|
+|Mon 13|Tue 14|Wed 15|Thu 16|Fri 17|
+||||||
+|Mon 20|Tue 21|Wed 22|Thu 23|Fri 24|
+||||||

OneNote/OSD/Planning/Prototype.md

@@ -0,0 +1,30 @@
+# Overview
+
+## Fly with RC
+
+1. ## Fly with RC
+    
+    - Stabilization with Control System
+    - Drive Train that actually works great
+    - Make rough landing gear
+2. ## Fly with Waypoint Mission
+    
+3. ## Fly with LTE Connection
+    
+4. ## Autopilot Autonomous flight
+    
+
+## Fly with Waypoint Mission
+
+## Fly with LTE Connection
+
+## Autopilot Autonomous flight
+
+# Software
+
+# Hardware
+
+## Drive Train
+
+- Make a mechanical propulsion system that actually works
+-

OneNote/OSD/Research/Antennas.md

@@ -0,0 +1,5 @@
+[https://interferencetechnology.com/antenna-fundamentals/](https://interferencetechnology.com/antenna-fundamentals/)
+
+  
+
+[https://home.zhaw.ch/kunr/NTM1/literatur/Rhode_Schwarz_Antenna_Basics.pdf](https://home.zhaw.ch/kunr/NTM1/literatur/Rhode_Schwarz_Antenna_Basics.pdf)

OneNote/OSD/Research/Books.md

@@ -0,0 +1,3 @@
+1. Amir MY, Abbas V (2010) Modeling and neural control of quadcopter helicopter: MATLAB-SIMULINK based modeling, simulation and neural control of quadcopter helicopter. LAP LAMBERT Academic Publishing, Germany
+2. PutroIE(2011)Modelingandcontrolsimulationforautonomousquadcopter:quadcopternonlinearmodelingand control simulation using Matlab/Simulink environment. LAP Lambert Academic Publishing
+3. Norris D (2014) Build your own quadcopter: power up your designs with the Parallax Elev-8. McGraw-Hill Edu- cation, New York

OneNote/OSD/Research/ESD.md

@@ -0,0 +1,324 @@
+[Notes to ESD essentials by TI](https://training.ti.com/esd-essentials-what-esd?context=1136983-1139548-1135647)
+
+  
+
+ESD - Electrostatic discharge
+
+This happens when you're getting charged up positively and touch a conductor.
+
+Large voltages can be generated that can damage Ics.
+
+  
+
+ESD diodes can be used to direct those ESD-currents into GND, before they can reach the Ics
+
+  
+![Circuit with ESD Protection 
+Interface 
+Connector 
+ESD 
+Diode 
+ESD Essentials 
+System 
+Circuitry ](Exported%20image%2020231126172008-0.png)  
+
+# Chapter 2 - ESD Working Voltage
+
+Also known as Reverse Standoff Voltage
+
+  
+![Working Voltage vs. Breakdown Voltage 
+ESD 
+ESD I-v Plot 
+e tials 
+ESD 
+Diode 
+0:18 
+Protected 
+Circuitry 
+0:55 
+16 
+14 
+12 
+10 
+4 
+2 
+0 1 2 3 4 5 6 7 8 9 10 11 
+voltage (V) ](Exported%20image%2020231126172008-1.png)  
+
+Indicated by red: BreakDown Voltage. Any voltage larger than this will make the diode conductive.
+
+  
+![(Λ) αβηΙ0Λ 
+ΥΙΙΟΙ 
+νηι•ο 
+ΊΙΙ' Ό 
+νιΙΙΟΙ 
+ΥΙΙΙΟΟΙ 
+Λ-Ι asa 
+a6ellO/\ uMOP>1eaJ8 Θ6ηΙOΛ 611!ΥΙ0Μ ](Exported%20image%2020231126172008-2.png)  
+
+The signal level, which is used normally should be below VRWM --> like that we have below 10 nA leakage current.
+
+  
+
+The working voltage of the diode you choose should be slightly higher than the largest signal.
+
+  
+![Bidirectional vs. Unidirectional ESD 
+Configuration 
+Bidirectional 
+1/0 
+Functional Diagram 
+- GND 
+Has a symmetric positive and negative 
+breakdown voltage 
+Definition 
+Can be used for interfaces with both 
+positive and/or negative voltage ranges 
+Supported Interfaces 
+(all interfaces) 
+In I-channel ESD bidirectional ESD, any pin 
+can be the I/O and any pin can be the 
+ground 
+ESD Essentials 
+Unidirectional 
+1/0 
+GND 
+Has a positive breakdown voltage but 
+breaks down almost immediately in the 
+negative direction 
+Can only be used for interfaces that only 
+have a positive voltage range 
+Digital inputs, USB, HDMI and other 
+positive signal interfaces 
+Has better negative clamping performance 
+than bidirectional diodes since the negative 
+breakdown voltage is lower. ](Exported%20image%2020231126172008-3.png)  
+
+# IEC 610000-4-2 ESD Rating
+
+  
+![ESD Standard: IEC 61000-4-2 
+ESO s 
+IEC 61000-4-2 ESD 
+*Designed for real world 
+applications 
+ESD Essentials 
+61000-4-2 
+HBM 
+20 
+40 
+60 
+Time (ns) 
+80 
+100 
+TEXAS INSTRUMENTS ](Exported%20image%2020231126172008-4.png)  
+  
+
+## Human Body Model (HBM) ESD
+
+This is used to estimat the manufacturing, assembly and shipping. Not for the final use!
+
+  
+
+## Charge Device Model (CDM) ESD
+
+ESD discharge through charged device into ground. Also only Manufacturing, assembly and shipping.
+
+  
+
+## IEC 61000-4-2
+
+This is the model that simulates the final use by the user. There are 4 Levels and devices next to interface connectors should use at least level 4.
+
+  
+![Look for the IEC 61000-4-2 Rating 
+IEC 61000-4-2 
+Level 
+1 
+2 
+3 
+4 
+E D Ratin s 
+Contact 
+Voltage 
+2kV 
+6kV 
+8kV 
+Air Gap 
+Voltage 
+2kV 
+4kV 
+8kV 
+15kV 
+6.2 
+V(ESO) 
+Humm (HBM). ANSVESDA/JEOEC 
+Chat%d-device rncxlel (COM). JEDEC 
+CIO' 
+6 Contact Discharge 
+Discharge 
+ESD Essentials 
+VALUE 
+*15000 
+*15000 ](Exported%20image%2020231126172008-5.png)  
+
+# Clamping Voltage
+
+This is the important measure, because it describes the voltage protection capability of the clamping diode.
+
+![Common Misconception regarding IEC 
+Interface 
+Connector 
+ESD 
+Diode 
+IEC 610004-2 Rating 
+measures the robustness of the 
+diode 
+(ex: 8kV contact Il 5kV air gap) 
+System 
+Circuitry 
+be exposed to. 
+ESD Esse 
+v 
+ESD clamping voltage 
+rating measures how well the 
+ESD diode will protect 
+system circuitry ](Exported%20image%2020231126172008-6.png)  
+![Clamping Voltage on the T LP Plot 
+— 12 
+ESD Essentials 
+22A 
+ESD 
+15.5V 
+Diode 
+Minimize RDYN to provide 
+better clamping voltage 
+and protection 
+18 
+10 
+2 
+Transmission Line Pulse Plot 
+nds 
+0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 
+Voltage (V) ](Exported%20image%2020231126172008-7.png)  
+
+Depending on the ESD strike a different current is shunted through the diode. This results in a remaining voltage drop, which the system circuitry will be exposed to. That is the voltage that can still damage our system. --> select diode according to max voltage that system can survive.
+
+# Parasitic Capacitance
+
+![ESD Junction Capacitance 
+Interface Signal 
+ESD Esse 
+Protected 
+Circuitry 
+N -type 
+P-type ](Exported%20image%2020231126172008-8.png)
+
+Because of the physics the diode can be modeled as a capacitor. Hence it will influence the circuit during normal operation.
+
+  
+
+If parasitic capacitance is high it can influence the signal:
+
+![Capacitance Effect on Signal Integrity 
+Input Interface 
+Signal 
+ESD 
+Diode 
+ESD Essen—. 
+Signal 
+capacitance 
+interference 
+Protected 
+Circuitry ](Exported%20image%2020231126172008-9.png)
+
+This means for a highspeed signal it is extremely important that the parasitic capacitance is small.
+
+  
+
+General overview:
+
+![Capacitance Recommendations 
+ESD Typical 
+Tl Recommended 
+Interface 
+GPIO 
+Pushbutton 
+Audio 
+USB 2.0 
+USB 3.0 
+USB 3.1 Gen 2 
+HDMI 1.4 
+HDMI 2.0 
+Ethernet 
+Antenna 
+4-20mA Loop 
+Suggested 
+Capacitance (C') 
+<30pF 
+<30pF 
+<10pF 
+<2.5PF 
+<0.5pF 
+<O.3pF 
+<O.7PF 
+<0.5pF 
+<5pF 
+<O.2pF 
+<80pF 
+Device ](Exported%20image%2020231126172008-10.png)  
+  
+
+# ESD Protection selection
+
+![ESD Selection Steps 
+Was thi* 
+ESD Esse tlals 
+1) 
+2) 
+3) 
+4) 
+5) 
+Quantify the signal range of your signal/power interface to 
+determine the ESD diode's working voltage. 
+Decide whether a unidirectional or bidirectional configuration 
+is preferred. 
+Decide the maximum capacitance can be accepted for the 
+interface. 
+Determine what TLP voltage the system fails at to determine 
+the necessary clamping voltage of the diode. 
+Ensure that the diode exceeds IEC 61000-4-2 level 4. ](Exported%20image%2020231126172008-11.png)  
+![Step 4: Determine TLP Clamping Voltage 
+ESD Essentials 
+<16V 
+<16V 
+Battery 
+Charger 
+Fails: 20V TLP 
+USB 2.0 
+Switch 
+Fails: 16V TLP 
+Bidirectional 
+Any 
+<20Vat 16A 
+TLP 
+>3.6v• 
+Bidirectional 
+<2.5PF 
+<16V at 16A 
+TLP 
+GND 
+USB 
+Receptacle 
+Polarity 
+Configuration 
+Capacitance 
+Clamping 
+Voltage 
+IEC 61000-4-2 
+Rating 
+TLP failure voltage is NOT the same as absolute 
+maximum voltage. Absolute maximum voltage is a 
+DC voltage while TLP is a 100ns transient. ](Exported%20image%2020231126172008-12.png)

OneNote/OSD/Research/Energy Consumption & CO2 Emissions.md

@@ -0,0 +1,26 @@
+# Strategy
+
+1. - [ ] Estimate our energy consumption per delivery and distance (including inefficiencies)
+2. - [ ] Estimate mean delivery distance (and other delivery statistics)
+3. - [ ] Estimate energy consumption per delivery and distance of current delivery services (motorbike / car)Fuel --> CO2 emissions
+4. - [x] Electricity Mix Switzerland: how much CO2 per kWh?
+  
+
+  
+
+# Additional Ideas
+
+- Reduced Food Waste, because people are cooking less
+- More local consumption
+- Electricity saved because of reheating in microwave/oven (delivery fast, no reheating needed)
+- Electicity --> future proof
+- People cook less --> less grocery shopping with car
+  
+
+  
+
+# Assumptions
+
+- Flight speed: 25 m/s
+- Glide Ratio: 10
+- Hover Maneouvre: 2*25s

OneNote/OSD/Research/GNSS.md

@@ -0,0 +1,13 @@
+Can we use AI to improve GNSS signals?
+
+  
+
+[https://insidegnss.com/what-are-the-roles-of-artificial-intelligence-and-machine-learning-in-gnss-positioning/](https://insidegnss.com/what-are-the-roles-of-artificial-intelligence-and-machine-learning-in-gnss-positioning/)
+
+  
+
+--> use semantic image comparison with database.
+
+--> multipath detection
+
+--> better sensor fusion

OneNote/OSD/Research/Helicopter.md

@@ -0,0 +1,112 @@
+> [!caution] This page contained a drawing which was not converted.  
+
+Tip speed should not exceed 200 m/s.
+
+For us that is roughly 6400 rpm.
+
+Formula: 200*60/D/pi
+
+- Rotor size and max weight are first things to consider.
+- Normalizing Entities to compare between models --> make dimensionless
+    
+    - Non-dimensional induced velocity
+        
+        - ![Exported image](Exported%20image%2020231126172013-0.png)
+    - Thrust coefficient
+        
+        - ![Α ](Exported%20image%2020231126172013-1.png)
+        - VT is tip speed of blade
+        - Thrust is divided by dynamic pressure times area --> gives Force [N]
+    - Combined:
+        
+        - ![ст 
+            Ст — 411 ](Exported%20image%2020231126172013-2.png)
+- Power overview:
+    
+    - Induced Power is major part of power during hover
+    - Power to overcome blade drag PO
+    - ==Solidity== of rotor:
+        
+        - ![Exported image](Exported%20image%2020231126172013-3.png)
+    - Skin friction drag:
+        
+        - ![Exported image](Exported%20image%2020231126172013-4.png)
+          
+          
+        - ![Exported image](Exported%20image%2020231126172013-5.png)
+    - Rotor efficiency: M = Pi/PO --> Figure of Merit
+        
+        - ![- (CT)3/2 
+            2 ](Exported%20image%2020231126172013-6.png)
+        - ki is induced power factor because of a variation in induced velocity
+
+  
+  
+
+# Blade Aerodynamics
+
+- ![dL 
+    Disc Plane 
+    Figure 3 A 
+    Blade Section 
+    Blade section flow conditions in vertical flight ](Exported%20image%2020231126172013-7.png)
+- Angles:
+    
+    - Inflow Angle (small angle approx)
+    - ![Exported image](Exported%20image%2020231126172013-8.png)
+    - Theta: pitch control by pilot
+    - Alpha: angle of attack seen by blade
+- Aerodynamic forces
+    
+    - Lift and Drag
+        
+        - ![dL=-pU2.cdr.CL 
+            dD=-pU2.cdr.CD ](Exported%20image%2020231126172013-9.png)
+    - Thrust
+        
+        - ![Exported image](Exported%20image%2020231126172013-10.png)
+    - Blade Torque
+        
+        - ![Exported image](Exported%20image%2020231126172013-11.png)
+    - Thrust coefficient with a linear twist blade and the assumption of no stall and no compressibility
+        
+        - ![075% λ ](Exported%20image%2020231126172013-12.png)
+          
+        - ![Exported image](Exported%20image%2020231126172013-13.png)
+        - Lambda: inflow factor
+            
+            - ![Exported image](Exported%20image%2020231126172013-14.png)
+            - Relating the inflow factor to momentum theory (see above)
+                
+                - ![CT = sa 
+                    3 
+                    2 
+                    CT 
+                    2 ](Exported%20image%2020231126172013-15.png)
+            - Relationship between inflow factor and pitch setting
+                
+                - ![Exported image](Exported%20image%2020231126172013-16.png)
+    - Why are blades twisted? My assumption is that the angle of attack seen by the blade depends on the wind speed it experiences. This in turn, depends on the radius and the angular velocity of the blade. The closer you are at the hub, the larger is the inflow angle and thus the smaller is the angle of attack. That means if we twist the blade and add additional aoa close to the hub and remove aoa where the speed is high, we will have more lift in total and not have a stalling condition somewhere and not at other places.
+
+  
+
+# Flapping, Feathering & Lead-Lag
+
+- Coriolis Force induces lag
+    
+    - ![In Newtonian mechanics the equation ot motion tor an object in an ineäial reference tram 
+        F = ma 
+        where F is the vector sum ot the physical forces acting on the object, m is the mass ot tr 
+        Transforming this equation to a reference frame rotating about a fixed axis through the orl 
+        F m — x — 2mu x — mu x x ) = ma' 
+        where 
+        F is the vector sum of the physical torces acting on the object 
+        is the angular velocity, of the rotating reference frame relative to the inertial trame 
+        v' is the velocity relative to the rotating reference frame 
+        r' is the position vector of the object relative to the rotating reference frame 
+        a' is the acceleration relative to the rotating reference frame 
+        The fictitious forces as they are perceived in the rotating trame act as additional forces thi 
+        • Euler torce —m— x 
+        • Coriolis torce —2rn(w x v') 
+        • centrifugal force —mu x (w x r' ](Exported%20image%2020231126172013-17.png)
+-

OneNote/OSD/Research/JTAG.md

@@ -0,0 +1,5 @@
+Why do we need JTAG?
+
+- Loss of physical access to pins
+- Board density increase
+- High speed signals: you should not have testpoint there