Full-Speed Simulator Meeting

			      7 Jan 2015

				Agenda


* Project Objectives:

  - Make the simulator, which executes the actual GNC flight code, run as
    fast as possible.  The simulator speed will be limited only by the speed
    of the processor, and will scale up on a faster processor.

  - Do this with the least amount of code change possible.  

  - As much as possible, run the same code in the simulator that runs on the
    vehicle. 

* Design Approach:

  Get something simple working end-to-end first, then iteratively
  improve it.

* Tasks:

  1. Get at least one QNX VM working so that we're not limited to
     mvc-bi, and can bring the simulator to sea or anywhere else.

  2. Synchronize Control Processes.  Ensure the GNC processes always run in
     the following sequence:

     1. Navigation
     2. Layered Control
     3. Dynamic Control
     4. Simulator

     This change is to the flight code (that runs on the vehicle).  It should
     not cause any significant difference in vehicle performance other than
     slightly to moderately improved dynamics.

     The simulator should then be running synchronously, as though a single
     task.  That is, there are many tasks but they all run in sequence; none
     concurrently.

     This can be done with an event call back, as in
     DynamicControlServer.  Alternatively we could move these four
     into a single process, possibly Supervisor.  Take the path that
     requires the least code change first.  Then come back and improve
     it.

  3. Non-Blocking Operation.  Change all clock calls so that in
     simulation mode, the clock returns simulation time without
     blocking.

     This should have no effect on vehicle flight performance.

     Possible subtask: Create a switch that reverts the simulator to
     real-time mode.  This could be useful for evaluating some (not
     all) IPC issues, if it's not too much extra work

  4. TRN Integration.  Make any necessary changes to TerrainAid
     server/driver for non-blocking operation.  Verify that TRN works
     at full speed.

  5. Testing and Validation.  Verify that Full-Speed simulation results match
     original real-time simulation results.

  5. If time permits:

     -Develop DEM to octree conversion code.  If necessary, modify the
      simulator so that it can easily switch between octree maps of
      different locations.

     -Water column modeling.  Reuse old netcdf code?

     -Develop a small suite (3-5) mission files that exercise as many aspects
      as possible of the flight code.  Include "lessons learned" situations.
      Create a single script that runs the simulations and 

     -Any other good ideas:


* Schedule:

  Put names and dates by tasks.


* Other Considerations:

  - Source code control:  Branch in current CVS?  Hans mentioned moving to a
    Git repository.
  
  - Are formal reviews such as a PDR necessary for this project?