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MuffinSpawn / FMS

My personal FMS task management and field-testing repository.
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Method: Home #40

Closed MuffinSpawn closed 7 years ago

MuffinSpawn commented 7 years ago

1) Send home.cmd to Motion 2) Measure the stand reflectors 3) Set the HomeDistance property to the average z coordinate of the stand reflectors 4) Measure the propeller reflectors 5) For now, set the HomeAngle property to the angle of the first principle component vector of all the propeller reflectors with respect to their centroid.

MuffinSpawn commented 7 years ago

Also, set CurrentDistance and CurrentAngle properties to the associated home values.

The Move command will subtract the two distances, add the requested linear displacement, and predict the stand reflector positions by adding this displacement to their configured home z coordinates in the DSCS. Stand reflector measurements will then be used to calculate the new CurrentDistance.

The Rotate command will subtract the two angles, add the requested angular displacement, and predict the propeller reflector positions by adding this displacement to their configured home azimuth angle coordinates in the DSCS. Propeller reflector measurements will then be used to calculate the new CurrentAngle.