Stay Inside Geofence

[yeekyra]

Summary

• In scripts/demo_commander_node.py, added an additional argument called --is-maryland to indicate whether the mission that is being flown is for the competition in Maryland (and not an ARC field mission).
• Updated sim_instructions.md to add the --is-maryland flag.
• Updated uavf_2024/gnc/commander_node.py by adding two new methods, generate_legal_waypoints(self, waypoints: list) and get_closest_intermediate_point(self, destination_wp). Added a new instance variable, self.default_altitude_asml = 23.0 to replace the global TAKEOFF_ALTITUDE = 20.0. Added docstrings to many of the existing methods to improve readability.
• Created the tests/gnc/stay_inside_geofence_tests.py file which contains tests to verify the correctness of my generate_legal_waypoints() function.
• Added the uavf_2024/gnc/data/geofence_test.gpx file which should be the gpx file that is provided when you test my code in simulation.

Unrelated to geofence but included in this PR

• Modified tests/gnc/opportunistic_imaging_tests.py to improve readability

Test Plan

Issues