New Plan of Action

[fallscameron01]

New Plan of Action

Problem

An issue has arisen that means none of our code will work on the bone drone. The firmware that the drone will be running is incompatible with our current flight code for Argonia Cup.

Solution

Figure out the next course of action for doing the Argonia Cup autonomously. Will need a quick turnaround if we intend to use any code for this competition.

Additional Information

Due to unforeseen constraints, the drone will be using the INav firmware on its flight controller. This firmware is completely incompatible with our current flight communication library mavsdk, meaning that our code will not be usable with the drone.

An additional issue is that we will need to implement additional communication infrastructure to use the extra elrs module that will be on the drone, although this problem is less pressing.

Options

Moving forward, we need to pick a new course of action if we still intend to do the Argonia Cup autonomously. Here are the major options that I thought of:

• Reimplement the flight code with a library that is compatible with INav. I found this library that may work, although it seems to be poorly maintained and will require a lot of research to get going: https://github.com/thecognifly/YAMSPy . If we do go this route, we will need a quick turnaround in order to be able to test the code before competition.
• More likely route: Use mission planner instead of our code to perform the competition autonomously.
• Don't do the competition autonomously. We will avoid this if at all possible.

Whatever route we choose will require a very quick turnaround if we are going to be able to test and validate it before the competition.

[fallscameron01]

Chosen option: Pursue autonomy through mission planner.

[Ooglely]

Here's a test QGC mission plan file for landing the drone at the golf course so we can test impload & mwptools
https://gist.github.com/Ooglely/eb708dc6dea8be0d3b19eb40c51f4ffa

[fallscameron01]

@Ooglely you want to checkout a new branch and add that to the repo?

[Ooglely]

https://github.com/MissouriMRR/Argonia-Cup-2023/tree/feature/imav

I added the impload tool, the mwptools install script, and the flight plan in the flight folder