Drone PM Restructure

The general approach to implementing the drone code into PM is as follows:

#ifdef IS_FIXED_WING
//fixed wing code

#else 
//drone code

#endif

Things we have done

• pathStateClasses.hpp

  • #include "TelemPathInterface.hpp"

  • //for drone code
    class commsWithTelemetry : public pathManagerState
    {
        public:
            //other code
            static fijo* GetTelemetryIncomingData(void) {return &_incomingData;}
        private:
            commsWithTelemetry() {CommWithTelemInit();}
            commsWithTelemetry(const commsWithTelemetry& other);
            commsWithTelemetry& operator =(const commsWithTelemetry& other);
            static fijo _incomingData; // Stores the commands sent by telemetry for easy access by other states in the pathmanager'
            
    };

• pathStateClasses.cpp

  • changed all instances of PIGO struct to fijo for drone code

    • fijo commsWithTelemetry::_incomingData;

• pathStateClasses.cpp and hpp

  • declared incoming telem data as fijo…may not recognize it

  • deleted the unneeded takeoff and landing stages

  • Currently working on merging the initialization and continuous waypoint setting into one stage

• CommsWithTelemetry.hpp

  • #ifdef IS_FIXED_WING 
    bool GetTelemetryCommands(Telemetry_PIGO_t *commands);
    
    #else
    bool GetTelemetryCommands(fijo *commands);
    
    #endif

• redefined PM-TM (TelemPathInterface.h) and PM-AM structs (AttitudePathInterface.h) as shown below

  • struct gpsCoordinatesFIJO{
        double longitide; 
        double lattiude; 
    }; 
    
    struct fijo{
        // uint8_t start; ?
        struct gpsCoordinatesFIJO gpsCoord;
        bool qrScanFlag; 
        bool takeoffCommand; 
        bool detectFlag;  
    } fijo; 

  • struct CommandsForAM{
        float rotation; //orientation? in radians? 
        float desiredX, desiredY, desiredZ;
    }       

Things to do

• Finish the different stages

  • 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

• Noticed that fijo may not be recognized

  • 

• 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???