vault backup: 2025-02-05 14:38:06
This commit is contained in:
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Hi,
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Thanks for applying! I looked at your CV, and it seems like you might be a good fit.
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For the next step in our selection process, please take 30 minutes and do this problem solving test:
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[https://onesecdelivery.com/problem-solving-test.html?embedded-new](https://onesecdelivery.com/problem-solving-test.html?embedded-new)
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Regards,
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Claudio
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OneSec.com
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# Agenda
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- [ ] Workshop
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- [ ] Control System
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- [ ] Electronics
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- [ ] Prototype
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- [ ] Summary von USA
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# Workshop
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- Research summarized in [sheet](https://docs.google.com/spreadsheets/d/1YP47rCptCled3IzDZ0RmcIJ_H5GzLnqsTZDGfUqnUEQ/edit#gid=0)
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- 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.
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- Do we want a workshop that helps with the design? #question
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# Control System
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# Prototype
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- What is the status? #question
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- Is it Inigo's or my job? #question
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- Does it make sense to keep trying with old design? #question
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## My thoughts and strategy
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- We're going down a rabbit hole. We do not understand the system properly and we're burning our time and money with this.
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- We need a PX4 expert --> either one of us learns it and becomes a good pilot or we hire someone who knows it.
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- We need to understand _exactly_ how motor commands are issued. #important
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- Wouldn't it make more sense to redesign it properly before putting all our efforts in this?
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- 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)
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- Include learnings from current swashplate failure
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- Blade holders are not strong enough --> one solid piece
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- Blade flapping (bending) is considerable --> how is the distance between the two rotors calculated? #question
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- We do not know how the system works --> get to understand it properly
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- Swashplates always introduce vibrations (why?), how can we minimize those? #question
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- Use MatLab and books to create a model and a simulation (See Nasa papers for simulators)
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- 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.
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- We should get our hands onto a force-torque sensor --> System identification becomes easy
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- Can we get in touch with experts that have designed other helicopter systems? [Swiss helicopter startup](https://koptergroup.com/)? Martin Stucki (Founder) #question
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- 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.
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- Important components are:
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- Slowmo camera
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- 6 axis force/torque sensor
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- Time synchronisation
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- Desktop computer to control and monitor everything
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- Temperature and humidity sensors
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- 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
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- Is peek a viable option to print the swashplate? To iterate faster through prototypes?
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- Are those tight tolerances really needed? It makes it very expensive to manufacture.
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# Electronics
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- Hire or not?
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- Outsourcing or not?
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- Outsource small scale --> upwork
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- Outsource large scale --> Thundercomm
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- Power System:
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-
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# Summary USA
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- Does OneSec Inc. Exist? #question
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- How many discussions did you have?
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- Verdict of evaluation and interest?
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Articles
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- [ ] How to 3D-Print with checklist.
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- [ ] How to work with slack, confluence and gdrive
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# Allgemeine Situation
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Ich möchte ein paar Gedanken bezüglich OneSecondDelivery mit dir teilen und habe alles niedergeschrieben.
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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.
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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.
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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).
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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.
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Key Points
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- Leere versprechen
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- Bubble
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- Team
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- Ich lerne nichts mehr
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- Motivation
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- Wirkung auf privates leben
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- Signs of burnout
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- 90% sind schlechte tage
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- Immer schlecht gelaunt
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- Konstant erschöpft
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- Ich habe keine freude mehr
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- Ich möchte niemandem mehr erzählen was ich mache bei OSD (erkläre immer alles in denselben alten sätzen)
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- Prokrastination
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- Vielleicht bin ich nicht der richtige für den job
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**Positiv**
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- Neuanfang in Zürich -> Mitgestaltung, Team, etc.
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**Negativ**
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- Nach 16 Monaten nicht so viel Start-up erfahrung
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- Ausgeleiert
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- Motivation viel kleiner geworden
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**Kommunikation**
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- Immer so schnell wie möglich
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- Keine Team meetings -> ich habe keine ahnung was di anderen machen.
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Was mir sorgen macht
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- Ich fühle mich trapped wegen aktien.
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- Möchte aber trotzdem entlöhnt werden für was ich geleistet habe
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Position as embedded hardware engineer at promising drone delivery start-up
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**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.**
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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.
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In detail, these are the 3 tasks that you will focus on:
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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.
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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.
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8. Actuator system: What are the best actuators for our drone and how do we control them?
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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.
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**Requirements**
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12. The most important thing is that you are excited about this project, and like the mission of our company.
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13. Understanding of embedded electronics and its unique caveats.
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14. PCB Design Skills. We use KiCad but experience on any other PCB CAD program is valuable.
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15. Experience with soldering and hands-on work with electronics is beneficial.
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16. Experience with embedded software (architecture and languages) is a plus.
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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.
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About OneSecondDelivery
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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.
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How to apply:
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22. Send us your CV to jobs@onesecdelivery.com
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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)
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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)
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Job Type: Full-time
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Location: Lausanne, Switzerland
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*****application deadline ending soon, apply now*****
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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.
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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.
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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.
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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.
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- [ ] Use a more scientific approach
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- [ ] Start with research & hypothesis
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- [ ] Make experiments and collect data
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- [ ] Conclude and reiterate.
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1. - [ ] Dry setup without propellers
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1. - [ ] Calibrate px4 and sensors
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2. - [ ] Calibrate servos in mixer
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3. - [ ] Attach servos to swashplate and test to extrema--> any mechanical limits hit?--> is neutral position correct?-->Which one is neutral position?
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4. - [ ] Calibrate ESC's
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5. - [ ] Move drone body and see swashplate reaction of controller--> correct reaction?
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2. - [ ] Attach propellers and repeat 1c. (wear helmet and goggles)
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3. - [ ] Make legs and protective devices for wings
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4. - [ ] Try to hover on grass
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# Todos
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- [ ] Make mock-up model that can crash a thousand times.
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- [ ] Measure weight of drone
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# Plan
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1. Say i'm recording
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2. Ask to tell you what had already been discussed with dannick
|
||||
3. Talk about his experience:
|
||||
4. Explain high level electrical system
|
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# Electrical System
|
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- Show high level block diagram
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- Show what we have:
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- Power Distribution Board
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- Carrierboard for google corals
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- Explain what we want:
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||||
- Carrierboard including the flight controller FMU v6
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- Power distribution board V2
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- Integration into drone
|
||||
- What problems are there:
|
||||
|
||||
- Electrical interference: GNSS high precision, LTE, RF frequencies, high current motors
|
||||
- Redundancy: custom ESC solution
|
||||
|
||||
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||||
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||||
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# Prepare
|
||||
|
||||
- [ ] PDB and Carrierboard
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- [ ] Show Pinout px4
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||||
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||||
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# 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
|
||||
@@ -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?
|
||||
@@ -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?
|
||||
@@ -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?
|
||||
@@ -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)
|
||||
@@ -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.
|
||||
@@ -0,0 +1,5 @@
|
||||
# Open Expenses
|
||||
|
||||
- [ ] Rent July (850.-)
|
||||
|
||||
- [x] Sbb billete woche in lausanne?
|
||||
@@ -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
|
||||
-
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -0,0 +1 @@
|
||||
[https://www.ecalc.ch](https://www.ecalc.ch)
|
||||
Reference in New Issue
Block a user