# General
## Development Process
- Docker Based Development
	- Development Containers
	  Build docker container for all engineers to work on the exact same code
		- include simulation with gazebo, px4, and always the same ROS version.
		- very easy to setup for new engineers.
	- Testing Containers:
		- SITL testing container
			- runs on gitlab (does not contain visual simulation)
			- does not contain development tools nor build tools
		- HITL testing container
			- use a real drone to do HITL simulation testing
			- uses our real hardware
- Automated Testing
	- Software
		- Have unit tests for everything
		- Have integration tests that run in docker simulated environment
		- Have hooks that use gitlab to run the tests
		- Improve on model used in simulation (control engineer)
		- connect unity with gazebo
	- Hardware
		- Future: have a space where drone can actually perform automated tests (hook takeoff)
- Drone Software version managing
	- One overall version
	- contains subversions for all different systems, including hardware and software.
	- ESC firmware & configuration file
	- OSD-software version & confiugration
		- What exact software version of ROS2 do we use?
	- PX4-software version & configuration

# Drone
## Low Level
### Sensors
- Pitot Tube (PX4)
	- probably fast (plug and play)
	- most work is integrating it into our flight stack in px4 --> control engineer
- ublox driver (ROS)
	- Add unit tests
	- Add meta data publishing (how is it usually done in ros)
	- Add service to get health status message
	- Add configuration parameters
	- make sure correct firmware is on gnss module
	- track antenna: does it work properly?
- LTE Driver (ROS)
	- improve driver to have access to meta data (to be sure about connectivity)
	- Make sure that VPN works flawlessly
	- Or another way to work with the ground station server
	- make sure correct firmware is on module
	- track antenna: does it work properly?
	- SIM management
- Temperature and Humidity Driver (ROS)
	- share sensor message at certain frequency
	- have configuration parameters
- BMS Driver (ROS)
	- share raw bms sensor data to the ROS message bus
	- have configuration parameters
	- have services for recalibration, changing charging settings, and others
- Parachute system 
	- PX4 Heartbeat signal & driver (PX4)
	- ROS action to trigger parachute (can also be done remotely)
- Optical flow
	- make sure that it is well calibrated

# Other Hardware
- ESC:
	- make sure correct firmware is running
	- observe temperature and current
	- feedback message to ROS system
- parachute board
	- observe parachute state (GPIO available)
	- share with ROS system
	- share with Ground control station
		- at what location and what time has the parachute been triggered?
		- has the deployment been successful?
- Magnetic sensor board
	- Add calibration routine --> we want to very easily
- Payload
	- Payload manager:
		- detect payload
		- estimate properties of payload (weight, center of mass, etc.)
		- share properties to control system and battery manager
		- Payload ejection action (ROS2)
		- payload reception action (ROS2)
- LED system
	- LED control (ROS2 message to turn on / off)
	- have a smart camera control instance to *synchronize* the LEDs with the caputring of the camera system
	- Driver for different LEDs
		- IR, White via I2C
		- Armpit LEDs 
		- User Feedback LED
	- user feedback LED
		- different color / blink codes
		- write different actions to request a sequence to be played
- Buzzer
	- parachute auto buzzer
	- user feedback buzzer
### Control
- integrate all flaps
- integrate state of payloadbay into model
- make a detailed and well tested model of drone that can be used in the simulation to accelerate development
- integrate variable pitch into the control
- actuators
	- 2 virt swash
	- 2 variable pitch
	- 4 flaps
	- payload bay
	- payload ejector
- Sensors
	- pitot tube
	- optical flow
- move to px4 v1.14 --> means control allocation instead of mixers
	- allows to more effectively use all actuators simultaneously
	- every actuator is defined by forces that it can deliver and thus this system manages a single actuator failure much better than the mixer system
	- also allows much better ros2 integration with px4
- Achieve <10cm hover accuracy
- Achieve efficient cruise flight
- Achieve reliable transition in both directions
- Integrate new S-Rod
- Integrate new single blade propeller

### Other Low Level
- remote ID implementation

## High Level
### OSD-Autopilot
- Settings Manager
	- Have one common place to change all settings in the entire system
	- change PX4 settings through the settings manager
	- use setting files that define all settings
- Battery estimator 
	- use raw data from BMS and mission data from groundstation/px4
	- how much flight time is left?
		- at hover
		- at cruise
		- empty vs full
		- 
	- can I get to the homeport safely?
	- how much charging do we expect at the next restaurant?
		- needs communication with groundstation and high level planning
- Navigation library
	- A* planning algorithm (copy Jerrys implementation)
		- unit tests
		- integration tests
	- Well tested controller-plugin
		- Enables us to do trajectory tracking well
		- probably offload to px4
			- thus calculate a trajectory (includes derivatives like velocity, acceleration jerk and time based points) from a path that we know is feasible for our drone
	- Costmap3D / Fruxelgrid
		- make sure obstacles are well defined in 3d space includi 
		- write proper test functions
		- make API to get information about the world
		- Add some sort of memory (buffer? derivative?)
			- Is an object moving towards me?
			- Basically we should be able to detect if someone throws a stone at the drone and avoid the stone.
			- Get inspired by StuffMadeHere trajectory estimation (basketball video or others) to estimate a trajectory of an approaching object
	- Write more complex behaviors
		- Hook landing
		- Hook takeoff
		- Flat surface Delivery
		- Ask for pilot assistance
- Climate Manager
	- Data sources
		- use raw data from temperature sensors
		- use camera data (through future FruxelGrid updates)
	- control heating wires in propeller blades and leading edge of the wing
- Log Manager
	- Improve Logging: use C++ instead of python
	- unify px4-logs with rosbags
	- is there a better logging method than rosbags?
	- share low bandwidth log data to groundstation to live plotting with plotjuggler or similar
- Bringup manager:
	- Make sure that the entire software stack is running after boot
	- run a few hardware / software tests periodically to be sure that everything is running as it should be.
- Camera Node:
	- detect if a camera is down
	- action to capture an image to a file (maybe used to confirm delivery)
- Hailo Node:
	- hef-file manager
	- plugin based neural nets?
		- change nets at runtime
	- Meta data publishing
	- health data publishing
- Destination finder
	- panorama to location converter

### Other High Level
- Tele operation node, such that we can use a remote control over LTE instead of radio
- Demo library
	- Demos are basically just another behaviortree with some user interaction
# Groundstation
- interface to single drone:
	- communicate new job (incl. job-id)
	- get updates on job
	- encrypted communication (ROS? UDP? MAVLINKV2?)
	- get flight logs continously
		- throttled
- Fleet management:
	- every drone has UID
		- and all details stored with it:
			- current version number (hardware and software)
			- what type of rasperry pi (UID)
	- LTE simcard management
	- RTK correction stream management
	- maintenance history of every drone
	- flight log history of every drone
	- current status of every drone
	- how many drones are in the air right now?
	- map with all drones: color coded which ones are flying, color coded which ones are unhealthy
- Interface to Delivery app, delivery software, etc.
	- deciding function if a delivery is possible according to panoramic image (people in the loop?)
- routing software
	- incoming jobs: which drone should do what job
- delegation software
	- how to delegate pilot assistance requests to free pilots?

# OneSec Server
- log server
	- automatic logupload (px4, rosbag, images?)
	- daily, weekly, monthly... report in jupyter --> pdf or html
	- dashboard with number of deliveries / number of flighthours, etc.
	- debug tools
		- download specific log
		- compare all logs of the same vehicle
- maintenance server
	- scheduled and unscheduled maintenance server
	- detailed instructions (including videos and checklists) on how to do maintenance / debugging / fault finding
	- email notifications if scheduled maintenance is needed
- Business Operations 
	- Delivery App / interface to uber eats
	- Customer database, handling, etc
		- address
		- precise GNSS coordinates after first delivery
		- panorama image before first delivery  (encrypted?)
		- multiple delivery locations

# Pilot Interface
- reliability
	- dual power supply
	- dual internet provider
	- make sure machine is powerful enough
- security:
	- make sure that some sort of encryption is happening
- Teleoperation
- visual confirmation
- high resolution map with precise coordinates
- interface:
	- to choose delivery location on map
	- to choose delivery polygons on map
	-