07-17
Line 40 test fail issue with the calculation of waypoints.
Note that the PM cruising algorithm can only be applied to fixed wings. The takeoff and landing algorithm can only be applied to quad.
On CrusingStateManagerTest.cpp line 113 both tests did not pass. Both the results are different from expected. Note that this test checks the desired track straight. So the path that is calculated should be for straight lines.
PM_CruisingStateManager.cpp line 131 the waypoint_type variable was commented out and on line 137 the waypoint_type is hard coded to be PATH_FOLLOW (data->waypoint_type = PATH_FOLLOW; ).
PM_CruisingStateManager follow_last_line_segment(line 389), follow_line_segment(line 355), next_waypoints(line 265) is where the math takes place. TODO figure out what they do and see why the math is not correct.
07-24
Added the below print statement to see what values were calculated (then realized that they are already printed😕 ) :
std::cout << "Actual Track: " << out1.desiredTrack << "\n" << "Actual Altitude: " << out1.desiredAltitude << "\n" << "Actual distance to next waypoint: " << out1.distanceToNextWaypoint << "\n"; std::cout << "Desired Track: " << ans1.desiredTrack << "\n" << "Desired Altitude: " << ans1.desiredAltitude << "\n" << "Distance to next waypoint: " << ans1.distanceToNextWaypoint << "\n";
Results:
Since the DesiredTrack and DesiredAltitude are both 0, I think that the issue is just that they are never calculated but I can’t find the line that is not calculating. 😢 However I am going through the function calls and it seems that they are being called and performing calculations.
TODO: Do the math manually to see how the calculation is done (bruh i hate math)
Add Comment