Background
I’m working on itHalf of this is out of date
Reasoning Behind Restructuring
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struct TelemWaypointData {
double longitude; //
double lattiude;
uint8_t waypoint_id;
};
typedef struct CommandsFromTM{
uint8_t num_waypoints; // number of waypoints in the list
TelemWaypointData waypoints[num_waypoints];
} CommandsFromTM; |
CV/TM → PM During Search For Landing Pad
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// Data given from CV/TM during search and landing
struct JetsonToZpMovementCommand {
float x;
float y;
float z;
float heading;
};
struct LandingInitiationCommand {
bool start_landing;
}; |
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typedef struct CommandsForAM_t{
2 WaypointTypefloat waypointdist_typeforward; //pitch
not necessary 3
4 // heading unit vector and magnitude
5 float dist_xright; // 6roll
float dist_y;
7 float dist_zup; //yaw
8 float magnitude; // Magnitude distance to waypoint target
9 float heading; // heading at target waypoint
10 double speedvelocity_target; // Target velocity of drone approaching target
11} CommandsForAM; |