Implement Waypoint Navigation State

[cfrankovich]

Description

Overview

Develop and integrate a waypoint navigation state within the drone's state machine to navigate through the environment's designated waypoints.

Goal/Purpose

To enable the drone to autonomously navigate a set of predefined waypoints with a maximum error of 25 feet.

User Story

As a developer, I want the drone to autonomously navigate through all the mission waypoints, so that it can complete the designated flight path within the specified accuracy.

Related Documents/Links

• SUAS competition rule book

Acceptance Criteria

1. The waypoint navigation state is successfully added to the SMACC2 state machine.
2. The drone can autonomously navigate through all 10 waypoints with no more than a 25-foot deviation from each waypoint.
3. The waypoint navigation functionality is validated in the Gazebo environment simulation.

Technical Notes

• Waypoint Accuracy: Implement navigation algorithms that can achieve the required positional accuracy relative to the waypoints.
• SMACC2 Configuration: Configure the state transitions within SMACC2 to handle the switch from waypoint navigation to obstacle avoidance and back.
• Validation and Testing: Conduct testing within the simulated environment to validate the navigation accuracy.