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 is here static fijo* GetTelemetryIncomingData(void) {return &_incomingData;} private: //commsWithTelemetry() setup code is here 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…look at “Things to do“ for more info
deleted the unneeded takeoff and landing stages
Currently working on merging the initialization and continuous waypoint setting into one stage
takeoffRollStage is now
preflightStage
and takeoffClimbStage is now
takeoffStage
WaypointManager.hpp
updated
_PathData
,_WaypointOutputType
, and_WaypointManager_data_out
enum _WaypointOutputType {PATH_FOLLOW = 0, TAKEOFF_WAYPOINT, LANDING_WAYPOINT, HOME_WAYPOINT}; /** * Structure stores information about the waypoints along our path to the destination and back. Got rid of turn radius */ struct _PathData { int waypointId; // Id of the waypoint _PathData * next; // Next waypoint _PathData * previous; // Previous waypoint long double latitude; // Latitude of waypoint long double longitude; // Longitude of waypoint int altitude; // Altitude of waypoint _WaypointOutputType waypointType; }; struct _WaypointManager_Data_Out{ uint16_t desiredTrack; // Desired track to stay on path int desiredAltitude; // Desired altitude at next waypoint long double distanceToNextWaypoint; // Distance to the next waypoint (helps with airspeed PID) _WaypointStatus errorCode; // Contains error codes bool isDataNew; // Notifies PID modules if the data in this structure is new int desiredAirspeed; uint32_t timeOfData; // The time that the data in this structure was collected _WaypointOutputType out_type; // Output type (determines which parameters are defined) };
CruisingState.hpp
replaced telemetry input data struct, removed inHold boolean, unsure what to do about goingHome boolean
_ModifyFlightPathErrorCode editFlightPath(fijo * telemetryData, WaypointManager& cruisingStateManager, int * idArray); // Removed the inHold boolean flag as hovering/holding feature was removed for code _GetNextDirectionsErrorCode pathFollow(fijo * telemetryData, WaypointManager& cruisingStateManager, _WaypointManager_Data_In input, _WaypointManager_Data_Out * output, bool& goingHome);
initializeWaypoint, updatePathnodes, initializaeFlightPath, getNextDirections
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
cruising state
determine if we actually need to #ifdef the whole file or if we can reduce to just snippets of code because I do not like looking through 500+ lines of code
we currently never have an array of waypoints → is this something we should work on implementing
WaypointManager:
update rest of hpp and cpp
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???
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