80 lines
2.6 KiB
Markdown
80 lines
2.6 KiB
Markdown
---
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aliases:
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Tags:
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- daily
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nägelkauen:
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Dehnen:
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Sport:
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Ernährung:
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---
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# 2025-06-27
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[[2025-06-26]] <--> [[2025-06-28]]
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Error generating daily quote
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---
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## Planning
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### State Estimator
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1. Fix Demo with single sensor (let vidit do it)
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2. Think deeply about the architecture: read deeply into the px4 architecture and how the state estimation is being done.
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1. define sensor messages that go along the entire processing pipeline
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2. write out a detailed plan on how the state estimator and the sensor pipeline should be developed
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1. include ugur and floris in this planning
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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)
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3. every sensor class should
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3. Refactor the single IMU state estimator and make it work.
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4. Test it with the drone build (use sensor at upper bridge because it is closest to center of mass)
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5. Initialize merging of the projects in order to use that for the first test flights (in hand only) --> no indi
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6. Functionality Testing that needs to pass:
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1. easy calibration (without changing code and recompiling)
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2. rotate in multiple direction (important, no cables) for 2 minutes and then the orientation should still be reliable.
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3. no jitter
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4. write testing protocol which needs to be fulfilled.
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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?
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8. Define a testing sequence:
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1. IMU quality
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2. IMU calibration
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3. IMU temperature correction
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4. check PX4 code for other important characteristics.
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### Flight Controller
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- way of launching calibration routine.
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### Autopilot
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- read serial chirp and forward over udp
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### Ground Control System aka. Fleet Management
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-
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### Dev Tooling
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#### Flight Viewer
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- flight viewer: accept udp source
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#### Mujoco Simulator
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- fake IMU data using the same processing pipeline
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### Pilot Project Planning
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- 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:
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- assume drone works perfectly (state estim + control)
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- calibration (auto? manual?)
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- charging?
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- notification system for problems?
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- maintenance
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-
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___
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## Reflection
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- Hiring:
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- we should have a state estimator responsible person (project lead)
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- control lead
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- propulsion system lead (hardware, electronics, software (driver), testing )
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- QA manager of entire drone, can also be system engineer.
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___
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## Notes
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- |