Drone PM Restructure

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

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

  • 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

  • • initialize_waypoint, update_path_nodes, initialize_flight_path, get_next_directions

• CommsWithTelemetry.hpp

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

Things to do

• Comms btw AM and TM

  • Currently reviewing how we receive data from TM

  • Sending Data to AM is on hold for now

  • Unsure if we still need to send data to TM

As of end of Winter term the following have been finished but may not be documented:

• 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

  • Open

    

• 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

  • just go through code in both files and see what we need to keep/change or yeet

  • set the current waypoint (given from sensorfusion) → next = target waypoint (given from fijo, using _PathData)

• 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

  • re look at initialize_waypoint, update_path_nodes, initialize_flight_path, get_next_directions, get_next_directions

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

  • Vector???