Bootcamp - Davis Liu #109
Bootcamp - Davis Liu #109
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| if report.status == drone_status.DroneStatus.HALTED: # if command done | ||
| if self.command_index < len(self.commands): # next command | ||
| print(f"frame({self.counter}) cmd({self.command_index}) pos({report.position})") | ||
| command = self.commands[self.command_index] | ||
| self.command_index += 1 | ||
| elif not self.has_sent_landing_command: # start landing | ||
| command = commands.Command.create_land_command() | ||
| self.has_sent_landing_command = True | ||
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| self.counter += 1 |
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note that we have a acceptance_radius attribute
due to drone position being analog, this is often required when checking if we have reached a location. it is important to double check after the drone has halted that the drone is indeed at the location specified in the command
| @@ -69,6 +79,34 @@ def run( | |||
| # ============ | |||
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| # Do something based on the report and the state of this class... | |||
| pos_x = report.position.location_x | |||
| pos_y = report.position.location_y | |||
| if report.status == drone_status.DroneStatus.HALTED: # if command done | |||
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apply the double check with location here as well
| if not result: | ||
| return [], image_annotated # data is invalid |
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nice job returning the whole dataset as wrong, this is common practice done
| def square(x: float) -> float: | ||
| return x * x |
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unnecessary, if needed the math library has functions for power.
| # self.has_land = False | ||
| # self.counter = 0 |
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pr should be cleaned up without commented out code
| self.trg_x = 0 | ||
| self.trg_y = 0 |
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use variable names that are very clear in what it means, it helps reviewers and other members understand the code faster even if it makes the code longer
| def square(x: float) -> float: | ||
| return x * x | ||
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| def wrong_rel_pos(i: int) -> bool: # returns true if the drone halts at wrong position | ||
| if i < 0 or i >= len(self.commands): | ||
| return False | ||
| cmd = self.commands[i] | ||
| if cmd.get_command_type() == commands.Command.CommandType.SET_RELATIVE_DESTINATION: | ||
| pos_x = report.position.location_x | ||
| pos_y = report.position.location_y | ||
| return square(pos_x - self.trg_x) + square(pos_y - self.trg_y) > square( | ||
| self.acceptance_radius | ||
| ) | ||
| return False |
| cmd_x, cmd_y = command.get_relative_destination() | ||
| self.trg_x += cmd_x | ||
| self.trg_y += cmd_y |
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I think this is redundant, you can just use the waypoint's location_x and location_y to check whether you are at the location you want since you know that is the exact location you are trying to reach
| if wrong_rel_pos(self.command_index - 1): # repeat previous command | ||
| command = commands.Command.create_set_relative_destination_command( | ||
| self.trg_x - pos_x, self.trg_y - pos_y | ||
| ) | ||
| elif self.command_index < len(self.commands): # next command | ||
| print(f"cmd({self.command_index}) pos({report.position})") | ||
| command = self.commands[self.command_index] | ||
| if ( | ||
| command.get_command_type() | ||
| == commands.Command.CommandType.SET_RELATIVE_DESTINATION | ||
| ): # update target position | ||
| cmd_x, cmd_y = command.get_relative_destination() | ||
| self.trg_x += cmd_x | ||
| self.trg_y += cmd_y | ||
| self.command_index += 1 | ||
| elif self.land_status == 0: # start landing | ||
| command = commands.Command.create_land_command() | ||
| self.land_status = 2 |
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nit pick but generally you want the "double check" if statements to be at the bottom, which makes more sense when reading
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