7209 lines
156 KiB
Markdown
7209 lines
156 KiB
Markdown
---
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excalidraw-plugin: parsed
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tags: [excalidraw]
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---
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==⚠ Switch to EXCALIDRAW VIEW in the MORE OPTIONS menu of this document. ⚠==
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# Text Elements
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Temperature -
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Left CMCB ^52ZIpDCa
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Sensing Nodes ^jHfZ2pnP
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Watchdog Nodes ^AmvMhEyy
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Planning Nodes ^pRlAPgT8
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Perception Nodes ^g9F3UZWg
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Temperature -
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Right CMCB ^pggbteyk
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GNSS -
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Left CMCB ^2VlH1Nn2
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GNSS -
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Right CMCB ^xpaiNpeW
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Possible Sensing
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- voltages on CM4CB
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- LTE sensor (health stats)
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- camera health stats
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- sensor data available from internal CM4 sensors
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- ADC on CM4 ^wmkg2uqb
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Temperature -
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Top PDB ^KrcdWijq
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Temperature -
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Bottom PDB ^s0kZ6kMP
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Notes about sensing
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- temperature includes relative humidity
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- make use of a base class that impplements common structures ^qQe2tqVw
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LED Nodes ^ETsnDvi6
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Armpit LED -
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Left ^bXZNXlPb
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Armpit LED -
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Right ^W4Hg9KU5
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White Navigation -
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Right - Upper Hemisphere ^KaDfuwnD
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RGB LED -
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Right ^WFFtdjHq
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RGB LED -
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Left ^RIZVCi4F
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CrashTrigger -
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Left CMCB ^eNsnPOgo
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CrashTrigger -
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Right CMCB ^SMhUk12c
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Notes about LED
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- implement base class
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- RBG vs single color
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- dimming: yes, no, 2 way?
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- blinking: frequency, brightness
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^7vu3ZfYR
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White Navigation -
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Left - Lower Hemisphere ^NY9Rvib1
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Optical Flow LED ^rVwCLFWA
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Temperature Watcher ^Zlh4xF9V
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Battery Watcher ^iRz2aaai
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Communication Nodes ^XAWN7QCm
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Control Nodes ^9sYYUPUa
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Estimator Nodes ^QcqXqHTB
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PX4 Nodes ^4JqB9UM0
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GetClosestHomeport ^1DEmTATi
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MainEstimatorNode
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- is this really needed? PX4Info does that ^nVIgv5Ow
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vehicle_attitude ^Qunt9R5M
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vehicle_local_position ^dxoSnXZu
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vehicle_status ^OmCnaXJq
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vehicle_global_position ^NAw3Qtj5
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trajectory_setpoint ^qzKQbo44
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offboard_control_mode ^Ttw4IQK3
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onboard_computer_status ^iJtl5yx0
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vehicle_command
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mavlink ^6jaUiiFK
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debug_array
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debug_key_value
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debug_value
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debug_vect ^75QaT7eE
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sensor_gps ^4Eham60V
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Table Finder Node ^p3lrJ32T
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3D Foundation Model Node ^UWB0D35Z
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Hook Finder Node ^MXMHqYI3
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Local Planner
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- get Target
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- get Obstacles
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- publish best Trajectory ^VYg41N5D
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RC via LTE Node ^TceszfIP
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Navigation LED Controller Node ^nkiLN6YR
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Right Camera pair ^85rltOBX
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Left Camera Pair ^WCQQF5Yd
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Camera Node ^5ipyAUfj
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Global Planner
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- get Target
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- get no flight zones
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- get airplane data (are other planes/helicopters/drones around?
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- publish best large scale trajectory ^pf3CZH4S
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Delivery Surface Decider
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- use 3D Foundation API to decide what delivery surface we should use (ordered list)
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- send to Local planner ^STsA0DsB
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Correct Balcony Finder
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- Use paronamic Image from customer if first time
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- Use highprecision GNSS location from customer database if consecutive time ^4oxscZij
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Customer Database Query
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- customer can save multiple delivery locations (home balcony, office, etc)
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- ^TNaBdYRQ
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High Level Communication to Drone from Ground Station
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for the future
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- go home to homeport X
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- job id: job contains pickup and delivery
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- ^sOdjye0P
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Parachute Controller
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to trigger parachute from CM4
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- will need to add a px4 module and px4-message ^aWw3eK2T
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Debug Interface
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probably just done by having access to all ROS messages.
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- trigger parachute ^g7z7T6L3
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Anti Icing Controller
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- observe icing conditions and activate anti-icing early enough ^X0iTGv28
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Battery Node
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- get voltage
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- get instantaneous current
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- get State of Charge (%)
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- get remaining hover time
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- get remaining cruise time
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^0Acte4ow
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BMS sensor
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- voltage
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- current
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- soc
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- temperature
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^Yq4czIWT
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Charging Controller
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- detect charger
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- decide if charging allowed
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- decide if fast charge or slow charge
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- decide if regenerative braking is on / off
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^h8FHIvLs
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ESC Controller
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- get ESC telemetry (current, temperature, eRPM, etc)
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- position control (if VESC)
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- turn on/ off regenerative braking
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- if VESC: get angle sensor directly and share RPM ^jx1Gta7o
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PX4 Info
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- ask me anything about px4 --> give answers about px4 state
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1. getCurrentPose ^n2JfmTYx
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Mavlink Router Node
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- make sure mavlink is routing
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-> ask ground station if it receives mavlink info. ^0vzIvbfC
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Parachute Controller
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to trigger parachute from CM4
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can be ordered from groundstation
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or from a high level controller within CM4
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- sends command to parachute controller in PX4 through a custom uORB message ^BcVleYIZ
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PX4 Commander
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A single node that is responsible for sending offboard commands and keeps them running.
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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
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PX4 Health
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Watcher
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- make sure everything in PX4 is healthy.
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- look at perf counters
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- look at temperatures
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- look at other indicators that I use when analyzing log files
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- probably combine with PX4 Info class ^qW31MElV
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%%
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# Drawing
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