Drone PM Restructure

Implement drone code into PM using

#ifdef IS_FIXED_WING
//fixed wing code

#else 
//drone code

#endif

Things to do

• State classes → redefine crusiing, takeoff/landing, transition? states

  • making Landing and Takeoff one stage each -> need to figure out how to combine the sub stages

  • Define PM-TM (TelemPathInterface.h) and PM-AM structs (AttitudePathInterface.h)

    • current calculations for the AM struct is in autosteer

    • there is no AM struct back to PM → will have to see where that affects the code

  • redefine waypoint datatype using info from cv (PathData in WM → requires lat, long, alt, is it takeoff?landing?pathfollow?home?)

  • altitude → macro

• Determine next directions with the getNextDirectionsCommand

• WaypointManager.hpp

  • #define IS_FIXED_WING FALSE

• WaypointManager:

  • review the math for gps coordinates

  • Link the current position (given from sensor fusion) and target(future) waypoint (needing for path following math)

    • calculating desired track between target and waypoint after target (need to also link these)

  • Pathfollow requires track and position → calculate this

  • Is there a situation where we would need to edit flight path (on the way from a→b, change to a → d → b)

  • Vector???