{"id":48,"date":"2020-01-14T22:07:25","date_gmt":"2020-01-14T22:07:25","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/?page_id=48"},"modified":"2020-12-19T10:36:11","modified_gmt":"2020-12-19T10:36:11","slug":"issue-log","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/issue-log\/","title":{"rendered":"Issue and Risk Log"},"content":{"rendered":"\n\n\n\n\t\n\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t\n\t
ISSUE NUMBER<\/th>DATE FOUND\t<\/th>DATE RESOLVED<\/th>CHANGE BY \t<\/th>ORIGIN \t<\/th>DESCRIPTION\t<\/th>RESOLUTION\t<\/th>ARTIFACTS CHANGED<\/th>\n<\/tr>\n<\/thead>\n
1<\/td>02\/26\/2020<\/td>03\/01\/2020<\/td>Quentin<\/td>Meeting with Air Lab for Navigation System<\/td>DJI drones need to read from its own GPS to satisfy its EKF needs to produce proper state estimations for Position and Velocity Controls.<\/td>Use DJI Hardware\/Controller with its own GPS for this semester\u2019s development demonstrations, while working on building our own EKF.<\/td>Navigation stack altered for this semester.<\/td>\n<\/tr>\n
2<\/td>02\/28\/2020<\/td>Fall\/2020<\/td>Team<\/td>First Drone Flight Test<\/td>Drone was not able to stabilize itself even in GPS mode and drifts sideways.<\/td>Plan further tests and debugging procedures for GPS and compass data.<\/td>Future schedule changes.<\/td>\n<\/tr>\n
3<\/td>03\/08\/2020<\/td>03\/08\/2020<\/td>Quentin<\/td>Crash during flight test<\/td>Propellers, propeller guards, and landing gears broke, but everything else intact.<\/td>Create proper flight procedures for all future flight tests and conduct formal retrospection. Respect all physical tests.<\/td>Added flight procedures to tutorial documentation.<\/td>\n<\/tr>\n
4<\/td>03\/12\/2020<\/td>03\/20\/2020<\/td>Team<\/td>COVID-19 Pandemic<\/td>Due to the virus, CMU goes virtual. All physical test plans are in jeopardy.<\/td>Move this semester's development into Gazebo Simulation with a focus on path planning. Transfer physical development to Fall semester.<\/td>Manipulation\/physical systems postponed.<\/td>\n<\/tr>\n
5<\/td>10\/03\/2020<\/td>10\/28\/2020<\/td>Barath<\/td>FIxing the magnet onto the drone<\/td>The magnets were turning off automatically without any control signal<\/td>Fixing the magnets in a proper orientation such that the hardware button is not toggled when the box is attached because of the force.<\/td>Be cautious about the hardware switch present on the magnet.<\/td>\n<\/tr>\n
6<\/td>10\/20\/2020<\/td>10\/27\/2020<\/td>Team<\/td>Field test - April tag detection during day time<\/td>Unable to detect the April tag when it's too bright outdoors because of unreliable auto-focus , auto-brightness<\/td>Placing the box on top of a white tarp to fix the contrast issue between the grass and April tag .<\/td>Usage of the tarp for every test in future.<\/td>\n<\/tr>\n
7<\/td>10\/23\/2020<\/td>11\/03\/2020<\/td>Team<\/td>Field test - Visual servo<\/td>Drone loses track of the April tag and doesn't know what to do when the tag goes out of the frame<\/td>Added a look around behavior to make sure the drone searches for the April tag if it goes out of bound<\/td>Added the look around feature as a part of the behavior tree.<\/td>\n<\/tr>\n
8<\/td>11\/14\/2020<\/td>11\/16\/2020<\/td>Team<\/td>Field test - full mission<\/td>Inaccurate detection of April tags during drop off only<\/td>The front camera was placed at an angle of 37 degrees to make sure it matches the software implementation of transformations<\/td>Check the angle every time using a protractor.<\/td>\n<\/tr>\n
9<\/td>11\/16\/2020<\/td>11\/22\/2020<\/td>Quentin<\/td>Field test - prior FVD trial run
\n<\/td>		A bug in the code prevents transitioning from pickup to drop-off after the package is picked.<\/td>A minor bug in the behavior tree code was fixed<\/td>Carefully look at the behavior tree during mission to find out any future bugs.<\/td>\n<\/tr>\n
10<\/td>11\/16\/2020<\/td>11\/23\/2020<\/td>Team<\/td>Field test - prior FVD trial run
\n<\/td>		Inaccurate GPS localisation because of the misalignment in the Drones frame and the world frame<\/td>Change the orientation of the drone to make sure they align <\/td>Use a compass to align the frames before starting the test.<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n\n\n

Risk & Mitigation<\/h2>\n\n\n\n
\"\"<\/figure><\/div>\n\n\n\n
\"This<\/figure><\/div>\n\n\n\n
Risk Matrix<\/h6>\n","protected":false},"excerpt":{"rendered":"

Risk & Mitigation Risk Matrix<\/p>\n","protected":false},"author":207,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-48","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/pages\/48","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/users\/207"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/comments?post=48"}],"version-history":[{"count":14,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/pages\/48\/revisions"}],"predecessor-version":[{"id":1226,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/pages\/48\/revisions\/1226"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamf\/wp-json\/wp\/v2\/media?parent=48"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}