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aliases: 
tags:
  - daily
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# Tasks
- [x] find led boards
- [x] test servo across the brushes

# Planning
#planning #plan/2023/Q4 
## Goals
What goals do we want to achieve until the end of the year?
### Delivery Goal
Do a simple but complete demo including hooks, delivery table, drone and small parcel
1. Bring drone, hook, table, light-weight package, tablet with QGC and remote control
2. setup hook, put drone into hook and connect power (nice switch)
3. Wait until drone gives ready signal (RGB LED? sound with motors?). In order to be ready it will RTK GNSS, LTE connection with ground control station
4. Drone opens payload bay (because of switch, or payload handover model or something like this)
5. User can put empty parcel into the payloadbay 
6. User walks back (drone blinks orange if person is too close)
7. Once user is 2 m away drone blinks green and closes payload bay
8. It starts to fly to 5m altitude
9. flies to table (known rough location, or high resolution camera)
10. hovers above table for a moment
11. slowly approaches table and opens payload 
12. payload ejection
13. payload closing
14. fly back to cruise altitude
15. fly back to hook
16. land in hook if people are not around hook

If the cruise-mode is ready until then we can also do a cruise mode demo:

Instead of having the table close-by we put the table at 500 m distance (have a webcam that films the table) and do the same demo.

### Cruise Mode Goal
1. Get new propulsion system working
	- make sure it doesn't vibrate
	- measure efficiency with test stand
	- go to wind-tunnel to test it in cruise mode
	- make sure that the virtual swashplate actuation is working and characterize it.
	- make sure that the variable pitch is working
	- characterize the slip-ring performance
2. Use PX4 VTOL mode to fly the drone in VTOL: meaning in hover, transition and cruise and back transition
3. Measure endurance (how long can we cruise with a full battery?)

## Work to Do
What is needed in order to achieve those goals?
### Hardware
- [ ]   Iterate 2-3 times a full drone build including all our boards.
	- [ ] New PDB with battery pack
	- [ ] both carrier boards with cooling in place

### Software
#### Low Level Software
- [ ] Control system that can keep its position to 10 cm accuracy for the hook landing. It will need to be able to reject wind gusts properly
#### High Level Software
- [ ] ROS2 system needs a big brush up: 
	- [ ] Good trajectory planner node
	- [ ] high level state machine that can execute different behaviours (behaviour tree) 
	- [ ] Camera to Vision pipeline: 3d foundation model, 
	- [ ] node to communicate with ground control station (mavlink router node)
	- [ ] node to handle battery communication: