tbretl/adept-fc

adept-fc's Issues

Mixing logic

• Create a map from RC input signals to pwm output signals
• Create a map from actuator values (from autopilot) to pwm output signals

Determine ranges of control surfaces for radian deflection to percent deflection conversion.

ZCM publish failure when `"ACTUATORS"` has non-0 values for `acts.de`, `acts.da`, or `acts.dr`

Foamy Flight Demo

Demonstrate recovery of all features which were previously available with PX4.

Arm/Disarm capability

Enabling/Disabling the PWM outputs at users command.

Make files

We need to create a make file which compiles all of our code.

• All executables must go in the /bin directory so they are ignored by git

Error message handling/logging

rather than printf() or cout when errors occur, handle them by sending a zcm message which will be logged.

Implement clean exit condition for all modules

Currently, each of the modules does not have an exit condition. One potential option to address this is to have the module which launches the rest of the code send out system status messages to all the modules. In this way, the startup module would act as the interface to a human user on the command line.

Finalize ZCM message types

Finalize message types for:

• VN-200 data
• ADC data
• autopilot actuator values
• RC input values
• system status messages
• commanded PWM values
• HITL spoofed data
• others?

Impose c++ formatting standards on all files

To do:

• find a c++ linter to use
• follow the formatting standards from selected linter in all future developments

Add configuration files

Each module may require some values for initialization, or hardware-related variables (e.g. PWM output limits for each channel), which would be best read in from a config file for easy changes.

• add config files to modules as necessary
• one config file or a unique file per module?

Have modules send confirmation messages when they start up

Create red_flags module

Initial Goals:

• Monitor overall CPU usage.
• Monitor status messages from all modules.
• Send data to be logged by scribe.

Rename HITL to be main autopilot, make hitl interface its own module

the HITL interface module will be completed by ESAero to include communication with their simulation through Mavlink UDP packets.

Fix timing issue on autopilot init

GPS time calculation in ADC

Once per second (sometimes), time stamp jumps back 1 second. The logic for determining which GPS second the Arduino ADC data belongs to needs refinement.

Long term: Add telemetry with ground station.

ZCM and Logging

The way the logging code is structured now, ZCM call the write function each time there is new data. This is obviously fast as it is not tied to the execution of the logger code. However, when multiple channels are logged, ZCM decides the order in which logging functions are executed. The results is that a random single channel is logged at ~5kHz and the rest are logged ~1-10 Hz.

• logging behavior needs to be consistent and deterministic

Ensure messages are only logged once.

Memory and CPU management

We need to ensure that each module has an appropriate amount of memory allocated, and is guaranteed the necessary CPU resources.

• speak with Alex about this

Flight mode logic

Create ability to switch between:

• autopilot mode
• manual flight mode
• SYSID maneuver triggering
  -HITL mode

Migrate files to a single source directory

The source files for each module are currently housed in a directory corresponding to that module. We need to move them to a single source directory.

Maneuver Implementation

We need to be able to execute a pre-programmed maneuver.

Failsafe modes

If receiver loses signal, it continues operation per its own failsafe mode which we must set up.

if receiver loses power, that needs to be handled in the code (rc_in read failure).

Development of the ADC module/interface

This module needs to read in a total of 10 ADC channels from two ARD-LTC1867 boards (capability to have 16 channels), and pass the received data to a ZCM message.

• apply 5-hole probe calibration here? Need to get an idea of how expensive this is computationally and if we need to do it onboard.
• Physical interface between the ADC boards and the RPI (need navio2 attached as well)
• communicate with two boards simultaneously

Autopilot implementation

Clean up and complete build/run documentation

Timestamping

We need to address timestamping and clock accuracy. The VN-200 sends GPS time with its data packets, and the ADC has no onboard clock. The RPI CPU clock can be referenced.

• When do we timestamp data (could be different for actuated commands vs. ADC values, etc.)?
• How do we ensure clock accuracy? Do we use RPI's clock, do we use an external clock?
• How do we rectify GPS time and [insert accurate clock here] time?

Ethernet communication for HITL module

• standardize message string to receive
• verify that it can be received correctly when sent from a Linux laptop over a network.

Add ability to view system status from terminal over SSH

Related to #6

Confirm autopilot wing leveler inputs proper commands

Unit testing

• Running list of test-cases.
• implement them!
• report results.