--- excalidraw-plugin: parsed tags: [excalidraw] --- ==⚠ Switch to EXCALIDRAW VIEW in the MORE OPTIONS menu of this document. ⚠== # Text Elements Temperature - Left CMCB ^52ZIpDCa Sensing Nodes ^jHfZ2pnP Watchdog Nodes ^AmvMhEyy Planning Nodes ^pRlAPgT8 Perception Nodes ^g9F3UZWg Temperature - Right CMCB ^pggbteyk GNSS - Left CMCB ^2VlH1Nn2 GNSS - Right CMCB ^xpaiNpeW Possible Sensing - voltages on CM4CB - LTE sensor (health stats) - camera health stats - sensor data available from internal CM4 sensors - ADC on CM4 ^wmkg2uqb Temperature - Top PDB ^KrcdWijq Temperature - Bottom PDB ^s0kZ6kMP Notes about sensing - temperature includes relative humidity - make use of a base class that impplements common structures ^qQe2tqVw LED Nodes ^ETsnDvi6 Armpit LED - Left ^bXZNXlPb Armpit LED - Right ^W4Hg9KU5 White Navigation - Right - Upper Hemisphere ^KaDfuwnD RGB LED - Right ^WFFtdjHq RGB LED - Left ^RIZVCi4F CrashTrigger - Left CMCB ^eNsnPOgo CrashTrigger - Right CMCB ^SMhUk12c Notes about LED - implement base class - RBG vs single color - dimming: yes, no, 2 way? - blinking: frequency, brightness ^7vu3ZfYR White Navigation - Left - Lower Hemisphere ^NY9Rvib1 Optical Flow LED ^rVwCLFWA Temperature Watcher ^Zlh4xF9V Battery Watcher ^iRz2aaai Communication Nodes ^XAWN7QCm Control Nodes ^9sYYUPUa Estimator Nodes ^QcqXqHTB PX4 Nodes ^4JqB9UM0 GetClosestHomeport ^1DEmTATi MainEstimatorNode - is this really needed? PX4Info does that ^nVIgv5Ow vehicle_attitude ^Qunt9R5M vehicle_local_position ^dxoSnXZu vehicle_status ^OmCnaXJq vehicle_global_position ^NAw3Qtj5 trajectory_setpoint ^qzKQbo44 offboard_control_mode ^Ttw4IQK3 onboard_computer_status ^iJtl5yx0 vehicle_command mavlink ^6jaUiiFK debug_array debug_key_value debug_value debug_vect ^75QaT7eE sensor_gps ^4Eham60V Table Finder Node ^p3lrJ32T 3D Foundation Model Node ^UWB0D35Z Hook Finder Node ^MXMHqYI3 Local Planner - get Target - get Obstacles - publish best Trajectory ^VYg41N5D RC via LTE Node ^TceszfIP Navigation LED Controller Node ^nkiLN6YR Right Camera pair ^85rltOBX Left Camera Pair ^WCQQF5Yd Camera Node ^5ipyAUfj Global Planner - get Target - get no flight zones - get airplane data (are other planes/helicopters/drones around? - publish best large scale trajectory ^pf3CZH4S Delivery Surface Decider - use 3D Foundation API to decide what delivery surface we should use (ordered list) - send to Local planner ^STsA0DsB Correct Balcony Finder - Use paronamic Image from customer if first time - Use highprecision GNSS location from customer database if consecutive time ^4oxscZij Customer Database Query - customer can save multiple delivery locations (home balcony, office, etc) - ^TNaBdYRQ High Level Communication to Drone from Ground Station for the future - go home to homeport X - job id: job contains pickup and delivery - ^sOdjye0P Parachute Controller to trigger parachute from CM4 - will need to add a px4 module and px4-message ^aWw3eK2T Debug Interface probably just done by having access to all ROS messages. - trigger parachute ^g7z7T6L3 Anti Icing Controller - observe icing conditions and activate anti-icing early enough ^X0iTGv28 Battery Node - get voltage - get instantaneous current - get State of Charge (%) - get remaining hover time - get remaining cruise time ^0Acte4ow BMS sensor - voltage - current - soc - temperature ^Yq4czIWT Charging Controller - detect charger - decide if charging allowed - decide if fast charge or slow charge - decide if regenerative braking is on / off ^h8FHIvLs ESC Controller - get ESC telemetry (current, temperature, eRPM, etc) - position control (if VESC) - turn on/ off regenerative braking - if VESC: get angle sensor directly and share RPM ^jx1Gta7o PX4 Info - ask me anything about px4 --> give answers about px4 state 1. getCurrentPose ^n2JfmTYx Mavlink Router Node - make sure mavlink is routing -> ask ground station if it receives mavlink info. ^0vzIvbfC Parachute Controller to trigger parachute from CM4 can be ordered from groundstation or from a high level controller within CM4 - sends command to parachute controller in PX4 through a custom uORB message ^BcVleYIZ PX4 Commander A single node that is responsible for sending offboard commands and keeps them running. It has a timed loop that checks if currently an action is being carried out and if the drone is still in the offboard mode. If the drone is not in the offboard mode anymore it will set it to hold mode. if no action is being carried out it will just keep the current position ^fRzXzaQK PX4 Health Watcher - make sure everything in PX4 is healthy. - look at perf counters - look at temperatures - look at other indicators that I use when analyzing log files - probably combine with PX4 Info class ^qW31MElV %% # Drawing ```json { "type": "excalidraw", "version": 2, "source": "https://github.com/zsviczian/obsidian-excalidraw-plugin/releases/tag/2.0.14", "elements": [ { "type": "rectangle", "version": 137, "versionNonce": 2005805279, "isDeleted": false, "id": "O-STY9cEU8JZvOBp9-r8T", "fillStyle": "solid", "strokeWidth": 1, "strokeStyle": "solid", "roughness": 1, "opacity": 100, "angle": 0, "x": 515.972195148468, "y": -479.4867630004883, "strokeColor": "#1e1e1e", "backgroundColor": "#a5d8ff", "width": 215.97216796874994, "height": 85, "seed": 422870479, "groupIds": [], "frameId": null, "roundness": { "type": 3 }, 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"height": 299, "seed": 1770444673, "groupIds": [], "frameId": null, "roundness": { "type": 3 }, "boundElements": [ { "type": "text", "id": "BcVleYIZ" } ], "updated": 1698173836403, "link": null, "locked": false }, { "type": "text", "version": 1888, "versionNonce": 642255697, "isDeleted": false, "id": "BcVleYIZ", "fillStyle": "solid", "strokeWidth": 1, "strokeStyle": "solid", "roughness": 1, "opacity": 100, "angle": 0, "x": 1941.8658458762857, "y": 15.0506089155094, "strokeColor": "#1e1e1e", "backgroundColor": "#a5d8ff", "width": 454.64532470703125, "height": 288.186342704777, "seed": 1554136929, "groupIds": [], "frameId": null, "roundness": null, "boundElements": [], "updated": 1705415740068, "link": null, "locked": false, "fontSize": 25.61656379598018, "fontFamily": 1, "text": "Parachute Controller\n\nto trigger parachute from CM4\ncan be ordered from groundstation \nor from a high level controller within\nCM4\n- sends command to parachute\ncontroller in PX4 through a custom\nuORB message", "rawText": "Parachute Controller\n\nto trigger parachute from CM4\ncan be ordered from groundstation \nor from a high level controller within CM4\n- sends command to parachute controller in PX4 through a custom uORB message", "textAlign": "center", "verticalAlign": "middle", "containerId": "M5f5Chhw0KNM_rc4IIJzp", "originalText": "Parachute Controller\n\nto trigger parachute from CM4\ncan be ordered from groundstation \nor from a high level controller within CM4\n- sends command to parachute controller in PX4 through a custom uORB message", "lineHeight": 1.25, "baseline": 278 }, { "type": "rectangle", "version": 1382, "versionNonce": 414400337, "isDeleted": false, "id": "FU6PB5SdoRfT4DAUl_IJs", "fillStyle": "solid", "strokeWidth": 1, "strokeStyle": "solid", "roughness": 1, "opacity": 100, "angle": 0, "x": -1491.6720203511159, "y": -167.96161164611863, "strokeColor": "#1e1e1e", "backgroundColor": "#ffc9c9", "width": 565.9162678726834, "height": 448.3674692007212, "seed": 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mode.\nIf the drone is not in the offboard mode\nanymore it will set it to hold mode. if no\naction is being carried out it will just keep\nthe current position", "rawText": "PX4 Commander\n\nA single node that is responsible for sending offboard commands and keeps them running. \nIt has a timed loop that checks if currently an action is being carried out and if the drone is still in the offboard mode. 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