Path Manager Restructure #151
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* Call reaches all the way to correct mode * Sending data from PM works * Data is sent back * Added comments and shit * Cruising State integrated * Cruisng Mode tests and all done * Removed no newline errors * Landing stages added. Still need to sort out the reset variables state and re-add sf data * Sensor fusion data re-added * resetVariables state resolved * Landing now sets outputs for coordinated turn elevation * isError implemented * Landing states transitioned * Cleaned up code. ready for review * Call reaches all the way to correct mode * Cruising State integrated * Cruisng Mode tests and all done * Removed no newline errors * Landing stages added. Still need to sort out the reset variables state and re-add sf data * Sensor fusion data re-added * resetVariables state resolved * Landing now sets outputs for coordinated turn elevation * isError implemented * Landing states transitioned * Cleaned up code. ready for review * Rebased * Implemented Nixons recommended fixes
* Takeoff Mode implemented Created new classes for TakeoffMode and its stages and removed corresponding dunctions from pathStateClassOB Created Unit test file * Fixed unit tests * Fixed unit test error and styling mistake Added takeoffMode.cpp and takeoffModeStages.cpp to CMake file Fixed brackets according to the style guide requirements * Fixed newline error fixed newline error in takeoffMode.hpp Co-authored-by: Pop0097 <[email protected]>
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Can this be made draft before simulation changes are done? |
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I'll explain isPackage here generally.
Since the addition of a carry load significantly changes the CG of the aircraft as well as its overall weight, the stall speed would be significantly impacted. To adjust for this, isPackage is used to determine if the CG and weight of the aircraft were changed by the package, which will then determine what speeds we would need to fly for various stages. Since we don't actually have in-person testing with the actual plane, these speeds are somewhat arbitrary for now, but in the future when we can meet in person again, these numbers will need to be redefined to the characteristics of the aircraft.
For example, the landingTakeoff function "slowFlightSpeed" takes in isPackage, and returns a speed that the plane should fly for slow flight, depending on the configuration of the aircraft.
Btw, trying to run simulation on this branch rn. Right before the competition, prior Chief told me to adjust the constants to more reasonable flying IRL, but those values don't really work for simulation. Those would have to be changed back for the sim to run.
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Here is the new architecture for path manager.
Will need to verify with simulation before merging.
Here's the architecture: https://uwarg-docs.atlassian.net/wiki/spaces/ZP/pages/1866989569/Proposed+Redesign