# 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