Precision landing

bin/run-nav.sh

@@ -6,5 +6,4 @@ imgfile="log/$(date +'%x-%X').imglog"
 mkdir -p "$(dirname "$logfile")"
 mkdir -p "$(dirname "$imgfile")"
 
-PYTHONUNBUFFERED=1 PYTHONPATH=".:dep/labeller:dep/labeller/third_party/yolov5" python3 src/aeac2025/task2.py 2>&1 | tee "$logfile" &
-PYTHONUNBUFFERED=1 PYTHONPATH=".:dep/labeller:dep/labeller/third_party/yolov5" python3 src/video_server/server.py 2>&1 | tee "$imgfile"
+PYTHONUNBUFFERED=1 PYTHONPATH=".:dep/labeller:dep/labeller/third_party/yolov5" python3 src/flight_tests/mavctl-test.py 2>&1 | tee "$logfile" 

install/shepard.service

@@ -3,8 +3,8 @@ Description=Shepard
 After=login.target
 
 [Service]
-ExecStart=/home/uaarg/Documents/shepard/bin/run-nav.sh
-WorkingDirectory=/home/uaarg/Documents/shepard
+ExecStart=/home/uaarg/shepard/bin/run-nav.sh
+WorkingDirectory=/home/uaarg/shepard
 
 [Install]
 WantedBy=multi-user.target

src/flight_tests/demo_flight.py

@@ -0,0 +1,25 @@
+from src.modules.imaging.analysis import BeaconAnalysisDelegate 
+from src.modules.mavctl.mavctl.connect import conn
+from src.modules.mavctl.mavctl.messages.navigator import Navigator, LandingTarget
+from src.modules.mavctl.mavctl.messages.messenger import Messenger
+from src.modules.mavctl.mavctl.messages import advanced
+from src.modules.mavctl.mavctl.messages.location import LocationGlobal
+import src.modules.autopilot.mavctl_advanced as mavctl_advanced 
+import time
+
+CONN_STR = "udp:127.0.0.1:14551"
+mav = conn.connect(CONN_STR)
+master = Navigator(mav)
+messenger = Messenger(14553)
+messenger.send("MAVCTL: Online")
+
+while master.set_mode_wait() and master.wait_vehicle_armed():
+    pass
+
+master.takeoff(10)
+time.sleep(5)
+advanced.simple_goto_local(master, 50, 50, 20)
+time.sleep(20)
+advanced.simple_goto_local(master, 50, -50, 20)
+time.sleep(10)
+master.return_to_launch()

src/flight_tests/mavctl-test.py

@@ -0,0 +1,23 @@
+from src.modules.mavctl.connect.conn import Connect
+from pymavlink import mavutil
+from src.modules.mavctl.messages.navigator import Navigator
+from src.modules.mavctl.messages.messenger import Messenger
+from src.modules.mavctl.messages import advanced
+import time
+
+CONN_STR = "tcp:127.0.0.1:14550"
+
+mav = Connect(ip = CONN_STR)
+master = Navigator(mav.mav)
+
+while master.wait_vehicle_armed():
+    pass
+
+while not master.set_mode_wait():
+    pass
+
+master.takeoff(10)
+time.sleep(5)
+advanced.simple_goto_global(master, 53.496970, -113.545194, 20)
+
+master.return_to_launch()

src/flight_tests/precision_landing.py

@@ -0,0 +1,30 @@
+from src.modules.imaging.analysis import BeaconAnalysisDelegate 
+from src.modules.mavctl.mavctl.messages.navigator import Navigator, LandingTarget
+from src.modules.mavctl.mavctl.connect.conn import Connect
+from src.modules.mavctl.mavctl.messages.messenger import Messenger
+from src.modules.mavctl.mavctl.messages import advanced
+from src.modules.mavctl.mavctl.messages.location import LocationGlobal
+import src.modules.autopilot.mavctl_advanced as mavctl_advanced 
+import time
+
+CONN_STR = "udp:127.0.0.1:14550"
+beaconCoordinate = LocationGlobal(53.495534, -113.538215, 10)
+
+
+connect = Connect(ip=CONN_STR)
+master = Navigator(connect.mav)
+
+beacon = BeaconAnalysisDelegate(beaconCoordinate=beaconCoordinate, navigator=master)
+
+
+
+while master.set_mode_wait() and master.wait_vehicle_armed():
+    pass
+master.takeoff(10)
+time.sleep(5)
+print("Takeoff complete after sleeping 5 seconds")
+master.land(2)
+while True:
+    master.broadcast_landing_target(landing_target=landing_target)
+    print("Landing Target Broadcasted")
+    time.sleep(0.5)

src/flight_tests/vel_control_test.py

@@ -8,7 +8,7 @@
 from src.modules.autopilot import navigator
 from src.modules.autopilot import lander
 
-CONN_STR = "udp:127.0.0.1:14551"
+CONN_STR = "tcp:127.0.0.1:14550"
 MESSENGER_PORT = 14552
 
 drone = connect(CONN_STR, wait_ready=False)

src/modules/autopilot/mavctl_advanced.py

@@ -0,0 +1,43 @@
+from typing import Callable, Literal
+from src.modules.mavctl.mavctl.messages.navigator import Navigator, LandingTarget
+from src.modules.imaging.analysis import AnalysisDelegate, AnalysisResult
+
+def do_precision_landing(master: Navigator,
+                         analysisDelegate: AnalysisDelegate, 
+                         mode: Literal["REQUIRED", "OPPORTUNISTIC"]) -> None:
+    print("do_precision_landing start point")
+    """
+    This function sets the drone into precision landing mode.
+
+    Parameters:
+        analysis_subscriber: A function that accepts a callback function which updates
+                             the landing target coordinates
+
+        mode (str): Either "REQUIRED" or "OPPORTUNISTIC".
+
+            REQUIRED:
+                The vehicle searches for a target if none is visible when
+                landing is initiated, and performs precision landing if found.
+
+            OPPORTUNISTIC:
+                The vehicle uses precision landing only if the target is visible
+                at landing initiation; otherwise it performs a normal landing.
+    """
+    def callback(position: AnalysisResult):
+        if position:
+            altitude = master.get_altitude().terrain # Gets the altitude above the terrain (as seen by an altimeter)
+            target = LandingTarget(right=position.right,
+                                            forward=position.front, 
+                                            altitude=altitude)
+
+            master.broadcast_landing_target(target)
+    print("after the callback func def")
+
+    analysisDelegate.subscribe(callback)
+
+    print("subscription occurred")
+
+    if mode == "OPPORTUNISTIC":
+        master.land(land_mode=1)
+    elif mode == "REQUIRED":
+        master.land(land_mode=2)