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PM Drone Restructure #186
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PM Drone Restructure #186
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* Added a sample pull request template * Add require-checklist github action
…t-SW-ALuo into PM-Restructure
…t-SW-ALuo into PM-Restructure
antholuo
suggested changes
Jul 4, 2022
| typedef struct CommandsForAM{ | ||
| float roll,pitch; // commanded orientation (radians) | ||
| float rudderPercent; | ||
| float throttlePercent; | ||
| _PassbyControl passbyData; | ||
| } CommandsForAM; | ||
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| //Data for attitude manager to send to path manager. | ||
| typedef struct AttitudeData{ |
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why doesn't fixed wing have this?
| @@ -6,6 +6,7 @@ | |||
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| #ifndef TELEM_PATH_INTERFACE_HPP | |||
| #define TELEM_PATH_INTERFACE_HPP | |||
| #define IS_FIXED_WING FALSE | |||
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Is there anyway we can change these to const or constexpr? We're trying to move away from using #define directives.
| double lattiude; | ||
| }; | ||
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| struct fijo{ |
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can you please put a //FIXME or //TODO stating that these are to be changed for comp season
| @@ -49,6 +51,13 @@ _ModifyFlightPathErrorCode editFlightPath(Telemetry_PIGO_t * telemetryData, Wayp | |||
| */ | |||
| _GetNextDirectionsErrorCode pathFollow(Telemetry_PIGO_t * telemetryData, WaypointManager& cruisingStateManager, _WaypointManager_Data_In input, _WaypointManager_Data_Out * output, bool& goingHome, bool& inHold); | |||
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| #else | |||
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| _ModifyFlightPathErrorCode editFlightPath(WaypointManager& cruisingStateManager, fijo * telemetryData, _WaypointManager_Data_In input); | |||
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I know a lot of this isn't your code, but is it possible to change names to no longer having leading underscores?
| @@ -96,7 +99,7 @@ class takeoffRollStage : public pathManagerState | |||
| void exit(pathManager* pathMgr) {(void) pathMgr;} | |||
| static pathManagerState& getInstance(); | |||
| static WaypointManager takeoffPath; | |||
| static _PathData takeoffPoint; | |||
| static _PathData takeoffPoint; // target | |||
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same thing with leading underscores here
| class landingStage : public pathManagerState | ||
| { | ||
| public: | ||
| void enter(pathManager* pathMgr) {(void) pathMgr;} |
| /** | ||
| * Structure stores information about the waypoints along our path to the destination and back. Got rid of turn radius | ||
| */ | ||
| struct _PathData { |
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is there a reason we have next + prev as well as lat and lon?
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Description
Restructured PM to be able to work with both fixed wing and multi rotor aircraft. Implemented PM functions for drone given fijo struct from CV and TM.
Documentation
Partially complete documentation can be found here: https://uwarg-docs.atlassian.net/wiki/spaces/ZP/pages/2035056654/Drone+PM+Restructure