Drone PM Restructure

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

#define IS_FIXED_WING FALSE

#if 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

  • changed BUFFER_SIZE to 3 for an array to hold previous, current, and next waypoint

  • 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)
    };
    

  • deleted anything to do with turnRadius, and inHold variables. Deleted start_circling and initialize_waypoint for orbit waypoints

• 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);
    
    

    • initialize_waypoint, update_path_nodes, initialize_flight_path, get_next_directions

• 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

  • altitude → macro

• Determine next directions with the getNextDirectionsCommand

• Noticed that fijo may not be recognized

  • 

• 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

• pathStateClasses

  • look at the resetPassby function

  • look through drone code part and take out stuff we don’t need (resetPassby? Autosteer?)

  • need to look at landing and takeoff implementation and fix according to what Gordon wants

• CruisingState and WaypointManager

  • Manav had the idea of having an array that would be constantly updated to hold the previous, current, next waypoints. Need to implement this

• CruisingState

  • assign waypoint types (depending on the takeoffCommand boolean?)

• 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???