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

Alias, Tags, nägelkauen, Dehnen, Sport, Ernährung

Alias	Tags	nägelkauen	Dehnen	Sport	Ernährung
	daily

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