Drone map position and search radius

src/teleoperation/backend/consumers.py

@@ -99,6 +99,7 @@ def connect(self):
             self.ish_thermistor_data = rospy.Subscriber(
                 "/science_thermistors", ScienceThermistors, self.ish_thermistor_data_callback
             )
+            self.drone_waypoint_sub = rospy.Subscriber("/drone_waypoint", NavSatFix, self.drone_waypoint_callback)
             self.ish_heater_state = rospy.Subscriber(
                 "/science_heater_state", HeaterData, self.ish_heater_state_callback
             )
@@ -595,9 +596,18 @@ def cmd_vel_callback(self, msg):
         self.send(text_data=json.dumps({"type": "cmd_vel", "linear_x": msg.linear.x, "angular_z": msg.angular.z}))
 
     def gps_fix_callback(self, msg):
+        fixed = True
+        if msg.status.status == -1:
+            fixed = False
         self.send(
             text_data=json.dumps(
-                {"type": "nav_sat_fix", "latitude": msg.latitude, "longitude": msg.longitude, "altitude": msg.altitude}
+                {
+                    "type": "nav_sat_fix",
+                    "latitude": msg.latitude,
+                    "longitude": msg.longitude,
+                    "altitude": msg.altitude,
+                    "status": fixed,
+                }
             )
         )
 
@@ -805,6 +815,19 @@ def science_spectral_callback(self, msg):
             text_data=json.dumps({"type": "spectral_data", "site": msg.site, "data": msg.data, "error": msg.error})
         )
 
+    def drone_waypoint_callback(self, msg):
+        latitude = msg.latitude
+        longitude = msg.longitude
+        fixed = True
+        rospy.logerr(msg.status.status)
+        if msg.status.status == -1:
+            fixed = False
+        self.send(
+            text_data=json.dumps(
+                {"type": "drone_waypoint", "latitude": latitude, "longitude": longitude, "status": fixed}
+            )
+        )
+
     def download_csv(self, msg):
         username = os.getenv("USERNAME", "-1")
 

src/teleoperation/frontend/src/components/AutonTask.vue

@@ -94,7 +94,8 @@ export default defineComponent({
         latitude_deg: 42.293195,
         longitude_deg: -83.7096706,
         bearing_deg: 0,
-        altitude: 0
+        altitude: 0,
+        status: false
       },
 
       teleopEnabledCheck: false,
@@ -156,6 +157,7 @@ export default defineComponent({
         this.odom.latitude_deg = msg.latitude
         this.odom.longitude_deg = msg.longitude
         this.odom.altitude = msg.altitude
+        this.odom.status = msg.status
       } else if (msg.type == 'auton_tfclient') {
         this.odom.bearing_deg = quaternionToMapAngle(msg.rotation)
       } else if (msg.type == "center_map") {