added logs for monitoring, changed timeout value

field_friend/automations/navigation/follow_crops_navigation.py

@@ -2,6 +2,7 @@
 from typing import TYPE_CHECKING, Any
 
 import numpy as np
+
 import rosys
 from nicegui import ui
 from rosys.helpers import eliminate_2pi
@@ -57,6 +58,8 @@ async def _drive(self, distance: float):
         else:
             target_yaw = self.odometer.prediction.yaw
         target_yaw = self.combine_angles(target_yaw, self.crop_attraction, self.odometer.prediction.yaw)
+        self.log.info(
+            f'Driving {distance:.2f}m from {self.start_position} with {target_yaw}(yaw) with front_point {front_point}')
         await self._drive_to_yaw(distance, target_yaw)
 
     def combine_angles(self, angle1: float, influence: float, angle2: float) -> float:

field_friend/automations/navigation/navigation.py

@@ -81,7 +81,7 @@ async def _drive(self, distance: float) -> None:
         """Drives the vehicle a short distance forward"""
 
     async def _drive_to_yaw(self, distance: float, yaw: float):
-        deadline = rosys.time() + 2
+        deadline = rosys.time() + 5
         start_position = self.odometer.prediction.point
         yaw -= self.odometer.prediction.yaw  # take current yaw into account and only steer the difference
         with self.driver.parameters.set(linear_speed_limit=self.linear_speed_limit, angular_speed_limit=self.angular_speed_limit):

field_friend/automations/navigation/straight_line_navigation.py

@@ -41,6 +41,8 @@ async def _drive(self, distance: float):
         closest_point = rosys.geometry.Line.from_points(self.origin, self.target).foot_point(start_position)
         local_target = rosys.geometry.Pose(x=closest_point.x, y=closest_point.y, yaw=start_position.direction(self.target), time=0) \
             .transform(rosys.geometry.Point(x=1, y=0))
+        self.log.info(
+            f'Driving {distance:.2f}m from {start_position} to {local_target} with closest point {closest_point}')
         await self._drive_to_yaw(distance, start_position.direction(local_target))
 
     def _should_finish(self):