Implement drone code into PM using
#ifdef IS_FIXED_WING //fixed wing code #else //drone code #endif
Things to do
State classes → redefine crusiing, takeoff/landing, transition? states
making Landing and Takeoff one stage each -> need to figure out how to combine the sub stages
Define PM-TM (TelemPathInterface.h) and PM-AM structs (AttitudePathInterface.h)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
WaypointManager.hpp
#define IS_FIXED_WING FALSE
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???
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