Page Comparison

...

PM will check if the drone is under manual control by receiving a WaypointType . If it is not under manual control, it will enter FlightStageSelectorMode, the main part of the state machine. Within this mode, PM will change flight states if triggered to do so. While flying, PM may enter any of the following flight states: Disarmed, Takeoff, Cruising, Landing, and Landed. Note: a Preflight state may be added. If we are in the Disarmed state or Landed state PM will go back to the start. However, if we are in Takeoff, Cruising, or Landing, PM will execute their respective stages.

To facilitate SM FatalFailure mode, the FatalFailure waypoint enum is added. When received, it will be passed directly to AM. Once AM shuts off actuators and sends an ack to SM, SM will stop PM and AM.

...

Important Structs

Note: These All messages to Path Manager will all be coming from System Manager in a single packet:

SM → PM

typedef struct CommandsFromSM{
    WaypointType waypoint_type;  // not necessary  
    TelemWaypointData telemetry_waypoint;
    CommandsFromTM telemetry_commands;
    LosSFData sf_data;
} CommandsFromSM;

where WaypointType is defined as

enum WaypointType {PATH_FOLLOW = 0, ORBIT_FOLLOW, HOVER_WAYPOINT, TAKEOFF_WAYPOINT, LANDING_WAYPOINT, TRANSITION_WAYPOINT, MANUAL_WAYPOINT};

PM → AM Struct:

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;

AM → PM Struct:

AM will send to PM an armed flag to signal that we are ready to fly. Additional information TBD

typedef struct CommandsFromAM{
    bool armed;  
} CommandsFromAM;

TM → PM Struct:

, FATAL_FAILURE};

and CV will be sending a list of waypoints during Cruise and Search (sent through TM and SM) where a single waypoint is defined in the TelemWaypointData struct below. The start_landing flag will be signaled when a landing pad is found.

struct TelemWaypointData {    
  double longitude;  //    
  double lattiude;   
  uint8_t waypoint_id; 
};

typedef struct CommandsFromTM{
    bool start_landing;
    uint8_t num_waypoints; // number of waypoints in the list 
    TelemWaypointData waypoints[num_waypoints]; 
} CommandsFromTM;

PM → AM Struct:

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;