65 lines
2.7 KiB
Markdown
65 lines
2.7 KiB
Markdown
---
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aliases:
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tags:
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- daily
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---
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# Tasks
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- [x] find led boards
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- [x] test servo across the brushes
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# Planning
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#planning #plan/2023/Q4
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## Goals
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What goals do we want to achieve until the end of the year?
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### Delivery Goal
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Do a simple but complete demo including hooks, delivery table, drone and small parcel
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1. Bring drone, hook, table, light-weight package, tablet with QGC and remote control
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2. setup hook, put drone into hook and connect power (nice switch)
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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
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4. Drone opens payload bay (because of switch, or payload handover model or something like this)
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5. User can put empty parcel into the payloadbay
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6. User walks back (drone blinks orange if person is too close)
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7. Once user is 2 m away drone blinks green and closes payload bay
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8. It starts to fly to 5m altitude
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9. flies to table (known rough location, or high resolution camera)
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10. hovers above table for a moment
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11. slowly approaches table and opens payload
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12. payload ejection
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13. payload closing
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14. fly back to cruise altitude
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15. fly back to hook
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16. land in hook if people are not around hook
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If the cruise-mode is ready until then we can also do a cruise mode demo:
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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.
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### Cruise Mode Goal
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1. Get new propulsion system working
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- make sure it doesn't vibrate
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- measure efficiency with test stand
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- go to wind-tunnel to test it in cruise mode
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- make sure that the virtual swashplate actuation is working and characterize it.
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- make sure that the variable pitch is working
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- characterize the slip-ring performance
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2. Use PX4 VTOL mode to fly the drone in VTOL: meaning in hover, transition and cruise and back transition
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3. Measure endurance (how long can we cruise with a full battery?)
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## Work to Do
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What is needed in order to achieve those goals?
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### Hardware
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- [ ] Iterate 2-3 times a full drone build including all our boards.
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- [ ] New PDB with battery pack
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- [ ] both carrier boards with cooling in place
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### Software
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#### Low Level Software
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- [ ] 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
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#### High Level Software
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- [ ] ROS2 system needs a big brush up:
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- [ ] Good trajectory planner node
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- [ ] high level state machine that can execute different behaviours (behaviour tree)
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- [ ] Camera to Vision pipeline: 3d foundation model,
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- [ ] node to communicate with ground control station (mavlink router node)
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- [ ] node to handle battery communication: |