Hi all,
All the weekly reports and updates to the BeaglePilot 2.0 GSoC project can be found here - https://beaglepilot2.wordpress.com/.
Cheers,
Rohith
Hi all,
All the weekly reports and updates to the BeaglePilot 2.0 GSoC project can be found here - https://beaglepilot2.wordpress.com/.
Cheers,
Rohith
Rohith,
In the future, is it possible to copy the content into the e-mail to
avoid needing to go visit the web site?
Regards,
Jason
Hi Jason,
Thanks for the tip. Will make it a point to post the reports in the group too.
Regards,
Rohith
Week #1 Report -
Current Progress -
Made and uploaded the introductory video which can be found here.
Started working on APMSubmarine vehicle.
Goals for next week -
Week #2 Report -
Current Progress -
Compiled the existing ardupilot code.
Got APM Planner running on Arch Linux.
The main ardupilot repository has undergone changes, vehicle code now in the form of .cpp files.
Synced the forked ardupilot code repository with the upstream one.
Started to make changes to the aforementioned .pde files to be compatible with the upstream repo.
Issues -
Goals for next week -
Week #3 Report -
Current Progress -
Got the Erle Brain running and successfully connected to APM Planner.
Tested existing vehicle code on it. Video here - https://www.youtube.com/watch?v=Ywp6UCNuHIA
Issues -
Developed an eye infection which considerably slowed progress.
Goals for next week -
Week #4 Report -
Current Progress -
Issues -
The BeagleBone Black’s PRUs are currently used by APM to generate high resolution PWM signals and process RC input and hence cannot be used for running the OpenROV’s Arduino code as mentioned previously.
The sheer volume of the Ardupilot code base and the difference in the way the APM vehicles and OpenROV are implemented makes it quite confusing at times.
The ‘AP_Baro’ code compiled with ‘make linux’ but provided errors on compiling for the Erle Brain with ‘make pxf’.
Project Status -
Still quite some way to go to achieve what was initially proposed in the student application timeline as the midterm goal, ie ‘complete the porting of OpenROV code to the APM’. The complexity of the project turned out to be more than what was initially expected and hence will have to re-structure the timeline accordingly after consulting my mentors. However, I’m confident that the final deliverable or project goal for the duration of the program, ie ‘implementing an open source underwater vehicle with autopilot capabilities’, will not be affected since the necessary libraries for the APMsubmarine (post midterm in the timeline) are already being worked upon.
Week #5 Report -
Current Progress -
Created APMsubmarine vehicle in ardupilot.
Added Submarine.h vehicle header file and other relevant cpp files.
Commit - https://github.com/BeaglePilot2/ardupilot/commit/e22e7b1c3dbe3081f3cf13dae1ea1c14a1084a28
Issues -
Goals for next week -
Week #6 Report -
Current Progress -
Added more files to the APMsubmarine vehicle folder.
Added steering mechanism implementation in Notes.txt.
Researched on dynamical model of OpenROV.
Worked on the compilation of the vehicle code.
Rebased the repo to incorporate changes from upstream.
Issues -
OpenROV does not have a dynamical model implemented.
APMsubmarine vehicle code does not compile, gives errors.
Goals for next week -
Get the APMsubmarine vehicle code to compile
Add steering code for the vehicle.
Week #7 Report -
Current Progress -
Tried to resolve the compilation errors obtained while compiling the vehicle code.
Researched on the designing of a dynamic model for underwater vehicles.
Issues -
Summer holidays came to an end and hence had to leave for my university.
A good part of the week was spent on packing, travelling and unpacking.
WiFi connection at university is a bit sketchy now and gets disconnected often.
Goals for next week -
Work on completing the targets set for the previous week.
Add more files to the APMsubmarine vehicle class.
Week #8 Report -
Current Progress -
Added ground control station mavlink cpp file. Commit - https://github.com/BeaglePilot2/ardupilot/commit/e66d276fa41791d64de837e61b41d94bd6ee0850.
Added commands logic cpp file. Commit - https://github.com/BeaglePilot2/ardupilot/commit/a078d87911623369614ce853c6faec54f28c364a
Added log cpp file. Commit - https://github.com/BeaglePilot2/ardupilot/commit/e61ef8404c688f58addb7535d2715c15b4ee918a.
Incorporated my mentor’s quick fix commits into master branch.
Issues -
Tried to get the vehicle code to compile but couldn’t resolve all the errors, although some have been corrected.
Using …/mk/apm.mk as the Makefile, which is common for all APM vehicles, but the code doesn’t compile.
Goals for next week -
Week #9 Report -
Current Progress -
Added a bunch of default parameters for the submarine - https://github.com/BeaglePilot2/ardupilot/commit/6d940f9c3b0bd49aebcd9c0f371b44b6fb542d06
Added system cpp file - https://github.com/BeaglePilot2/ardupilot/commit/ab1f0814210418e8177c918650cbc79d2ee7e0c9
Added a radio cpp file - https://github.com/BeaglePilot2/ardupilot/commit/33a2faa3bd0b2691d064b9107886407d9d8911f2
The above were added to resolve some of the compilation errors encountered earlier.
Focused on getting the vehicle code to compile in the last two days.
Issues -
Many errors have been resolved, a few still remain.
Goals for next week -
Week #10 Report -
Current Progress -
Added about half a dozen commits with file additions and fixes.
APMsubmarine vehicle code now successfully compiles.
Added instructions for compiling and cross-compiling the vehicle code.
The same can be found here - https://github.com/BeaglePilot2/ardupilot/blob/master/APMsubmarine/README.md
Issues -
Code not tested on an actual vehicle.
Goals for next week -
Week #11 Report -
Current Progress -
Video - Cross-compiling the APMsubmarine code for Erle Brain
Built and ran the APMsubmarine code on the Erle Brain.
Issues - Had troubles getting the code to run on the Erle Brain at first. A big thanks to my mentors for helping me sort out the issue.
Goals for next week -
Week #12 Report -
Current Progress -
Hi all,
Final report for BeaglePilot 2.0: Making Underwater Drones can be found here - https://github.com/BeaglePilot2/meta/blob/master/Report.md
I haven’t pasted the same here due to possible formatting issues since it is in Markdown.
Wishing my peers Ankur, Apaar, Ariane, Azizul, Ehab, Niko and Shubhangi (in alphabetical order) all the best for their final evaluations!
Regards,
Rohith