https://lettucemeet.com/l/DZdno
CV Requirements (jetson)
Position Data (GPS/IMU)
Request for movement command (System Manager)
PM Requirements
Waypoints (SM)
AM → PM Struct:
| Code Block |
|---|
typedef struct CommandsFromAM{
bool armed;
} CommandsFromAM; |
...
| Code Block |
|---|
typedef struct CommandsForAM_t{
2 WaypointType waypoint_type; // not necessary
3
4 // heading unit vector and magnitude
5 float dist_x;
6 float dist_y;
7 float dist_z;
8 float magnitude; // Magnitude distance to waypoint target
9 float heading; // heading at target waypoint
10 double speed_target; // Target velocity of drone approaching target
11} CommandsForAM; |
Jetson → PM Struct:
...
System Manager Data Structs and Flow
ARM/DISARM
FlightMode Request (GSPC)
PID Values (TM)
WayPoints (TM)
AM Requirements
PID Values (SM)
Ground Station Requirements
...