Implement Refueling + Tick restructuring #250
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miyatakazuya
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AskewParity
reviewed
May 27, 2025
AskewParity
reviewed
May 27, 2025
AskewParity
reviewed
May 27, 2025
…n of payload_size config
…n of payload_size config
AskewParity
reviewed
May 28, 2025
include/utilities/constants.hpp
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| const std::chrono::milliseconds MISSION_DONE_TICK_WAIT = std::chrono::milliseconds(100); | ||
| const std::chrono::milliseconds ACTIVE_TAKEOFF_TICK_WAIT = std::chrono::milliseconds(100); | ||
| const std::chrono::milliseconds WAIT_FOR_TAKEOFF_TICK_WAIT = std::chrono::milliseconds(100); | ||
| const std::chrono::milliseconds REFUELING_TICK_WAIT = std::chrono::milliseconds(10000); |
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Why does this need to be 10 seconds?
edit: This seems to be a workaround for preventing the tick system to short circuit refuel. I still don't think this is necessarily a good option:
- Doesn't guarantee that we are safe, which defeats the point of the
refueltick. - Minor, after refueling, we could be waiting 10 seconds until it takes off.
- More Major - in the GCS, we would need to know when the tick is in
waitfortakeoffin order to tell it to takeoff; the alternative is to keep spamming takeoff until it works.
- More Major - in the GCS, we would need to know when the tick is in
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Yep I think this should be reverted to 100.
AskewParity
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May 28, 2025
src/cv/pipeline.cpp
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| if (imageData.TELEMETRY.has_value()) { | ||
| targetPosition = this->gsdLocalizer.localize(imageData.TELEMETRY.value(), box); | ||
| std::cout << "pipeline: " << targetPosition.latitude() << " " << targetPosition.longitude(); | ||
| std::cout << "pipeline: " << |
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this seems to be a debugging statement
AskewParity
reviewed
May 28, 2025
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| MissionPath generateSearchPath(std::shared_ptr<MissionState> state) { | ||
| std::vector<GPSCoord> gps_coords; | ||
| if (state->config.pathing.coverage.method == AirdropCoverageMethod::Enum::FORWARD) { |
AskewParity
reviewed
May 28, 2025
src/ticks/manual_landing.cpp
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| Tick* ManualLandingTick::tick() { | ||
| return nullptr; | ||
| return next_tick; |
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This is an issue? Take the following:
- We intend to refuel --> We set next tick to be the
refueltick. - In manual landing, it immediately transitions to
refueltick.- The safety pilot is still landing the aircraft.
- The plane is armed.
- The
refueltick will immediately exit, as the plane is still armed
Therefore, the arm check that refuel is meant to do is contingent on whether or not the safety pilot lands the plane in time for the first execution of the refuel tick.
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This is an oversight on my part...
Should have a event trigger that is David dis-arming the plane, which signals the 'end' of manual_landing.
I'll add that back in for clarity
|
lint por favor |
AskewParity
approved these changes
May 29, 2025
This was referenced Jul 22, 2025
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This PR introduces the Refueling tick, as well as overall changes to the FSM based on the new mission plan.
While it is a large PR, the changes are simple (when compared to the beast that is
feat/cv-everything).airdrop_approach, and the decision to either terminate the mission/land or refuel is based on the amount of airdrops that have been dropped so far.active_takeofftick has also been modified to skip the CV procedure if we have done them already.static.cppand the searchBoundPath generation.Closes: #242 #241 #235 #240