vault backup: 2025-06-27 22:56:06

Affected files:
.obsidian/workspace.json
0 Journal/0 Daily/2025-06-27.md
Templates/Daily Template.md

0 Journal/0 Daily/2025-06-27.md

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+---
+Alias:
+Tags: daily
+# Habits:
+# -----
+nägelkauen:
+Dehnen:
+Sport:
+Ernährung:
+# -----
+---
+# 2025-06-27
+
+[[2025-06-26]]    <-->      [[2025-06-28]]
+
+
+Error generating daily quote
+
+---
+## Planning
+
+### State Estimator
+1. Fix Demo with single sensor (let vidit do it)
+2. Think deeply about the architecture: read deeply into the px4 architecture and how the state estimation is being done.
+	1. define sensor messages that go along the entire processing pipeline
+	2. write out a detailed plan on how the state estimator and the sensor pipeline should be developed
+		1. include ugur and floris in this planning 
+		2. every sensor that is affected by orientation should have an orientation quaternion with respect to the body where it's mounted (ROS2 TF2 analogy)
+		3. every sensor class should 
+3. Refactor the single IMU state estimator and make it work.
+4. Test it with the drone build (use sensor at upper bridge because it is closest to center of mass)
+5. Initialize merging of the projects in order to use that for the first test flights (in hand only) --> no indi
+6. Functionality Testing that needs to pass:
+	1. easy calibration (without changing code and recompiling)
+	2. rotate in multiple direction (important, no cables) for 2 minutes and then the orientation should still be reliable.
+	3. no jitter
+	4. write testing protocol which needs to be fulfilled.
+7. set up plan for multi-imu (copy px4 system, except for angular acceleration?) basically use the best imu for accel and gyro data (without fusing multiple) and do a ang accel estimation with multiple?
+8. Define a testing sequence: 
+	1. IMU quality
+	2. IMU calibration
+	3. IMU temperature correction
+	4. check PX4 code for other important characteristics.
+
+### Flight Controller
+- way of launching calibration routine.
+### Autopilot
+- read serial chirp and forward over udp
+
+### Ground Control System aka. Fleet Management
+- 
+
+### Dev Tooling
+#### Flight Viewer
+- flight viewer: accept udp source
+#### Mujoco Simulator
+- fake IMU data using the same processing pipeline
+ 
+ 
+ 
+### Pilot Project Planning
+- privately go through it step by step and record every single thing that needs to work in order for the pilot project to work with different scenarios:
+	- assume drone works perfectly (state estim + control)
+	- calibration (auto? manual?)
+	- charging?
+	- notification system for problems?
+	- maintenance
+	- 
+ 
+ 
+
+___
+## Reflection
+- Hiring: 
+	- we should have a state estimator responsible person (project lead)
+	- control lead
+	- propulsion system lead (hardware, electronics, software (driver), testing )
+	- QA manager of entire drone, can also be system engineer.
+
+___
+## Notes
+-