{"id":70,"date":"2021-03-07T04:36:58","date_gmt":"2021-03-07T04:36:58","guid":{"rendered":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/?p=70"},"modified":"2021-03-07T04:40:28","modified_gmt":"2021-03-07T04:40:28","slug":"alvin-3-6-21","status":"publish","type":"post","link":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/2021\/03\/07\/alvin-3-6-21\/","title":{"rendered":"Alvin 3\/6\/21"},"content":{"rendered":"<p>I met up with Sid to help install the Jetpack SDK on the TX1 as well as install ROS, but weren&#8217;t able to finish the full setup due to a memory shortage. I also helped build the design review presentation for this upcoming week.<\/p>\n<p>This week was extremely busy for me, and as a result I didn&#8217;t accomplish the goals I set last week: namely setting up a software pipeline for the motion planning and actually testing on the simulator. What I did instead was set up the drone&#8217;s flight controller and double-check that my existing drone hardware was all ready for use. The drone and flight controller already contain the bare minimum sensors to enable autonomous mode:<\/p>\n<ul>\n<li>gyroscope<\/li>\n<li>accelerometer<\/li>\n<li>magnetometer (compass)<\/li>\n<li>barometer<\/li>\n<li>GPS<\/li>\n<\/ul>\n<p>I used the open-source QGroundControl software to calibrate these sensors. The accelerometer calibration is shown as an example below:<\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"alignnone size-medium wp-image-71\" src=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-content\/uploads\/sites\/131\/2021\/03\/Screenshot-from-2021-03-06-23-15-13-300x168.png\" alt=\"\" width=\"300\" height=\"168\" srcset=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-content\/uploads\/sites\/131\/2021\/03\/Screenshot-from-2021-03-06-23-15-13-300x168.png 300w, http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-content\/uploads\/sites\/131\/2021\/03\/Screenshot-from-2021-03-06-23-15-13-768x430.png 768w, http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-content\/uploads\/sites\/131\/2021\/03\/Screenshot-from-2021-03-06-23-15-13-1024x574.png 1024w, http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-content\/uploads\/sites\/131\/2021\/03\/Screenshot-from-2021-03-06-23-15-13.png 1920w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/p>\n<p><img decoding=\"async\" loading=\"lazy\" class=\"alignnone size-medium wp-image-75\" src=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-content\/uploads\/sites\/131\/2021\/03\/20210306_233943-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-content\/uploads\/sites\/131\/2021\/03\/20210306_233943-300x225.jpg 300w, http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-content\/uploads\/sites\/131\/2021\/03\/20210306_233943-768x576.jpg 768w, http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-content\/uploads\/sites\/131\/2021\/03\/20210306_233943-1024x768.jpg 1024w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>I also wired up other sensors to the drone&#8217;s flight controller:<\/p>\n<ul>\n<li>downward-facing Optical Flow camera<\/li>\n<li>downward-facing Lidar Lite range-finder<\/li>\n<\/ul>\n<p>This next week, I will finish installing the communication APIs on our Raspberry Pi to communicate with the flight controller and verify its success with ROS by sending an &#8220;Arm&#8221; command to the drone. I will also finish last week&#8217;s task to set up an initial software pipeline for the motion planning.<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>I met up with Sid to help install the Jetpack SDK on the TX1 as well as install ROS, but weren&#8217;t able to finish the full setup due to a memory shortage. I also helped build the design review presentation for this upcoming week. This week was extremely busy for me, and as a result &hellip; <\/p>\n<p class=\"link-more\"><a href=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/2021\/03\/07\/alvin-3-6-21\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Alvin 3\/6\/21&#8221;<\/span><\/a><\/p>\n","protected":false},"author":407,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[1],"tags":[],"_links":{"self":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/posts\/70"}],"collection":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/users\/407"}],"replies":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/comments?post=70"}],"version-history":[{"count":3,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/posts\/70\/revisions"}],"predecessor-version":[{"id":76,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/posts\/70\/revisions\/76"}],"wp:attachment":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/media?parent=70"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/categories?post=70"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s21-teamb9\/wp-json\/wp\/v2\/tags?post=70"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}