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ivogeorg / FCND-Motion-Planning

Udacity FCND Project 2 - Planning in complex urban environment using udacidrone API
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Study the `udacidrone` API #4

Closed ivogeorg closed 1 year ago

ivogeorg commented 1 year ago

The quadcopter drones in FCND Motion Planning use the udacidrone (Docs, Github)API for connection and messaging. The general drone framework is all under the Drone class.

ivogeorg commented 1 year ago

The Drone class is relatively straightforward: positions, flight dynamics, telemetry, commands. The udacidrone API serves as a pass-through to the simulator. See #8.

ivogeorg commented 1 year ago

Notice the DISTANCE_SENSOR message type in udacidrone/message_ids.py.

Questions:

  1. Is this actually functional or just a placeholder? It is likely that the "distance sensor" has to be integrated with the colliders-based world to function. If so, how expensive is it, does it have to be batch pre-compute or can it be locally amortized?
  2. If functional, how does it function? Is it a forward-facing distance sensor?
  3. How fast can the drone yaw to get a point cloud based on the distance sensor, like a lidar scanner?