search

tritonuas / obcpp

The code for the Onboard Computer, now written in C++.
GNU Affero General Public License v3.0
7 stars 0 forks source link

Chore/waypoint altitude #184

Closed AskewParity closed 1 month ago

AskewParity commented 1 month ago

closes #176

Path Fetching

This code's main purpose was to add altitude to the path - which it has done, but by offloading path fetching from the RRTTree to RRT static pathing.

Justification

The path planning itself is altitude agnostic, so I've kept it that way and instead added altitude to be an extra function when a waypoint has been achieved.

This also changed the path planning to have "almost" all functionality happen between waypoints, and does not depend on the state of the tree beyond the current waypoint (the past).

Concerns

Need to check if the flight path includes the waypoint itself, and not just the points between them.

AskewParity commented 1 month ago

DONT MERGE, path doesn't include waypoints

Tyler-Lentz commented 1 month ago

DONT MERGE, path doesn't include waypoints

image

AskewParity commented 1 month ago

Waypoints are back, but I'm still not sure if this is the correct list of points.

Tyler-Lentz commented 1 month ago

Waypoints are back, but I'm still not sure if this is the correct list of points.

If you want to get the OBC <--> GCS <--> SITL integration running on your localhost it might make some of the testing easier, and this is something we're going to need to do eventaully. If you're able to come down to the lab we could get that set up. I'll be here for the next 3.5 hours since Im just working on various things until the town hall

AskewParity commented 1 month ago

The new path doesn't include the starting point, but thats probably a good thing anyways.

I'll merge the PR into main.