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Null: Default. Does nothing but required to advance the simulator.
Set relative destination: Move distance relative to current position of the drone. Requires drone to be halted. The destination must also be within the flight boundary.
The flight boundary is a square from (-60.0, -60.0) to (60.0, 60.0). The drone’s initial position is (0, 0).
Halt: Makes the drone stop immediately at its current position.
Land: Lands the drone at the current position and ends the simulation. Requires drone to be halted.
If an invalid command is sent, it is ignored with a warning.
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Why isn't there a set absolute/global destination command? It would make my life much easier. This is a deliberate bootcamp design choice we made. The systems Autonomy uses can have frustrating interfaces, and we're forced to work around or implement our own solution, so being able to work with what you have is important. Additionally, since a system we might interface with can be owned by another subteam, we might end up making it harder on them by forcing them to implement something that we can do ourselves. |
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