Autonomous Landing Module #235
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| self.__logger = local_logger | ||
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| def run( | ||
| self, bounding_box: detections_and_time.Detection |
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I think you'll be getting a MergedOdometryDetections object, which will have a list of Detection objects
modules/auto_landing/auto_landing.py
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| """ | |||
| Auto-landing script. | |||
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Add calculates the parameters necessary for use with LANDING_TARGET MAVLink command
modules/auto_landing/auto_landing.py
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| class AutoLanding: | ||
| """ | ||
| Auto-landing script. |
modules/auto_landing/auto_landing.py
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| import math | ||
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| from pymavlink import mavutil |
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I'm pretty sure you won't need this library
modules/auto_landing/auto_landing.py
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| vehicle = mavutil.mavlink_connection("tcp:localhost:14550") | ||
| try: | ||
| height_agl_mm = vehicle.messages[ | ||
| "GLOBAL_POSITION_INT" | ||
| ].relative_alt # copied from blue_only.py | ||
| height_agl = max(height_agl_mm / 1000, 0.0) |
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If we need altitude information, you cannot create another connection to the drone since FlightInterface already has one. You need to get the merged_odometry_detections.MergedOdometryDetections object from data merge worker. The altitude is agl which is the same as local altitude I think, so you can directly use that
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Also, this portion should also go into the run() function, as altitude will change as the drone lands, and is not constant
modules/auto_landing/auto_landing.py
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| ground_hyp = (x_dist**2 + y_dist**2) ** 0.5 | ||
| self.__logger.info(f"Required horizontal correction (m): {ground_hyp}", True) | ||
| target_to_vehicle_dist = (ground_hyp**2 + self.height_agl**2) ** 0.5 | ||
| self.__logger.info(f"Distance from vehicle to target (m): {target_to_vehicle_dist}", True) |
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I think that instead of making 4 separate lines in the log, you can combine all of these into 1 line, so the timestamps look better (these calculations should be fast anyways)
Created the module for Autonomous Landing and making progress on creating the autonomous landing worker as well.