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Lunar SAR v1.3.0 - Final Task

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@connorjak connorjak released this 19 Nov 08:30
· 8 commits to main since this release
v1.3.0
d9ca4a6
  • All 7 rovers are fully operational and can be used.
  • Power and Batteries
    • If a rover runs out of power (battery state of charge = 0), it will stop moving.
    • When a rover is within 10 meters of the charging station, it will automatically connect and start charging.
    • We’ve added the “Battery Meter” gadget to the sim UI.
      • Select an entity to view its battery’s state of charge.
      • Will read zero for entities that don’t have a battery.
      • Select by clicking for any entity besides LTVs. LTVs will need to be selected through the Outliner gadget for now.
  • Obstacles now block your motion. We’ve included some sample code for navigating away from an object you ran into.
    • Use "ObstaclesStopMovement": false on SimEntity in the sim config to disable stopping on obstacles for testing purposes.
  • GetLidarObstacles was previously bugged; STPRO 0.27.6 fixed a bug where all previous obstacle detections would accumulate instead of clearing every update.
  • Added several commands:
    • Stop
      • Fails any MoveToCoord commands and stops the rover
    • PickUpAntenna
      • Picks up the closest antenna if close enough. LTV1 only, as it has EVA crewmembers on it.
    • PlaceDownAntenna
      • Places down the carried antenna. LTV1 only, as it has EVA crewmembers on it.
  • Added CreateTimerTask(), which is a utility that creates a TaskGraph task which waits for a provided number of seconds in sim time before marking itself completed. Changes throughout mission manager and task graph to support this functionality.
  • Revised speed vs slope curves which in general raise speeds on slight slopes
  • Communication line of sight is now a factor.
    • Antennas are 4m high, and rover antennas are 2.5m high except for 2m for the scout rovers.
    • You will need to move the antennas in order reach most of the search area. Either find good antenna spots visually and note their lat/long or do so through software in the sim or from the elevation data.
  • Sim end criteria is LTV1 arrives next to crash site (within 20m) with >50% battery state of charge, which is enough to do the rescue.
  • Scripts to easily change out the crash site location to each of the 5 test case locations (and to change the seed for the obstacle dispersion) are coming soon to STU_Lunar_SAR repo.
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