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Cruising State is responsible for providing the coordinated turns module with a desired heading and altitude. It accomplishes this by making calls to the Waypoint Manager. The cruising state module is run by the Path Manager state machine when cruisingState::execute() is called.

This document concerns itself with cruisingState.hpp and cruisingState.cpp within the ./PathManager directory of ZeroPilot.

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Cruising State is responsible for two things: getting the plane’s desired direction and altitude during cruising flight; and updating the flight path if required. The module itself actually provides an API that the state machine (specifically cruisingState::execute()) can use to interact with the Waypoint Manager.

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In order to use the Cruising State module, data must be sent via telemetry. The following struct code snippet shows what needs to be sent in:

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The second struct is the general struct that includes the other contains all data sent from in by telemetry (but, these values were variables that don’t concern Cruising State are excluded for obvious reasons).

• numWaypoints stores the number of waypoints initialized in the waypoints[100] array

• waypointNextDirectionsCommand is used to indicate if the plane should enter/exit holding patterns, start/stop heading home, or just get the next direction and altitude as normal.

• Holding specific data

  • holdingAltitude is the altitude that the plane will hold fly at when holding (in m)

  • holdingTurnRadius is the radius of the plane’s holding pattern (in m)

  • holdingTurnDirection is the direction that the plane will turn (when looking down from above)

• Modifying flight path

  • waypointModifyFlightPathCommand is used when editing the plane’s flight path in order to call the correct function in API for the Waypoint Manager.

  • initilaizingHomeBase is used when initializing the flight path to indicate that we are also initializing the home base. If it is set to 0 and we are . It indicates that in addition to initializing the flight path, we are also initializing the home base will be set to nullptr.

  • nextId is used when inserting a waypoint and represents the id of the waypoint that will come after the inserted waypoint

  • prevId is used when inserting a waypoint and represents the id of the waypoint that will come before the inserted waypoint

  • modifyId is used when updating or deleting a waypoint and represents the id of the affected waypoint.

• Other

  • waypoints[100] stores the waypoints that will be used to update modify or initialize the plane’s flight path

    • Length should be 1 when updating, appending, or inserting

    • Length should be greater than 1 when initializing

    • Length should be 0 when deleting, nuking, or doing nothing

  • homebase stores the home base when it is being initialized. Should be set to nullptr otherwise.

Functions Declared

Here is cruisingState.hpp:

#include "pathDatatypes.hpp"
#include "waypointManager.hpp"

#ifndef CRUISING_STATE
#define CRUISING_STATE

struct _CruisingState_Telemetry_Return {
    char editingFlightPathErrorCode; // 0 = success, 1 = error, 2 = incorrect telemetry command
    char pathFollowingErrorCode; // 0 = success, 1 = error, 2 = home base not initialized, 3 = incorrect telemetry command
    int currentWaypointId; 
    int currentWaypointIndex;
    bool homeBaseInitialized;
};

// The following functions are used to interact with the Waypoint Manager module
int editFlightPath(Telemetry_PIGO_t * telemetryData, WaypointManager& cruisingStateManager, int * idArray);

int pathFollow(Telemetry_PIGO_t * telemetryData, WaypointManager& cruisingStateManager, _WaypointManager_Data_In input, _WaypointManager_Data_Out * output, bool& goingHome, bool& inHold);

void setReturnValues(_CruisingState_Telemetry_Return * _returnToGround, WaypointManager& cruisingStateManager, int editErrorCode, int pathErrorCode);

// The following functions are used to update the ID array that is a part of the CruisingState class
void appendNewElement(int * idArray, int newId);
int indexOfDesiredId(int * idArray, int id);
void insertNewElement(int * idArray, int prevId, int newId);
void updateElement(int * idArray, int oldid, int newId);
void removeElement(int * idArray, int id);
void clearArray(int * idArray);

#endif

The struct, _CruisingState_Telemetry_Return will be used by the commsWithTelemetry state when preparing to send data to the ground. It contains data regarding the current state of the waypoint manager and whether any commands executed properly. Error codes, which are included below, are also sent through this struct.

• Error Codes:

  • editingFlightPathErrorCode:

    • 0 = success

    • 1 = error

    • 2 = incorrect telemetry command

  • pathFollowingErrorCode:

    • 0 = success

    • 1 = error

    • 2 = incorrect telemetry command

    • 3 = going home failed because the home base is not initialized

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The function pathFollow() is called every time cruisingState::execute() is run. Using commands sent from telemetry, it will either get the plane’s next directions and altitude, put make the plane in enter/exit a holding pattern, or make the plane start/stop heading home.

The function setReturnValues() populates an instance of the _CruisingState_Telemetry_Return with relevant data.

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Unit tests were written in ./Test_CruisingState.cpp to test the functions declared in cruisingState.hpp. The unit tests tested the following:

1. Incorrect telemetry commands returns error codes

2. Initializing the flight path works

3. Nuking the flight path works

4. Appending a waypoint

   1. Case where it works

   2. Case where it fails

5. Inserting a waypoint

   1. Case where it works

   2. Case where it fails

6. Updating a waypoint

   1. Case where it works

   2. Case where it fails

7. Deleting a waypoint

   1. Case where it works

   2. Case where it fails

8. Getting Successfully getting the next flight directions direction and altitude success

9. Entering a holding pattern successfully, and returning correct next flight direction /and altitude

10. Successfully start and stop heading to home base

11. Fail to successfully start heading to home base

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