<3 #127
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<3 #127
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AaronWang04
reviewed
Nov 26, 2024
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| elif report.status == drone_status.DroneStatus.HALTED and not self.landing and self.ready: | ||
| command = commands.Command.create_land_command() | ||
| self.landing = 1 |
| if (self.waypoint.location_x - report.position.location_x) <= self.acceptance_radius and ( | ||
| self.waypoint.location_y - report.position.location_y | ||
| ) <= self.acceptance_radius: | ||
| self.ready = 1 |
| destination.location_y - position.location_y | ||
| ) <= self.acceptance_radius: | ||
| return True | ||
| return 0 |
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| def get_dist(self, pad: location.Location) -> float: | ||
| """ | ||
| Calculate distance between waypoint and a landing pad | ||
| """ | ||
| return (pad.location_x - self.waypoint.location_x) ** 2 + ( | ||
| pad.location_y - self.waypoint.location_y | ||
| ) ** 2 | ||
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| def reached_destination( | ||
| self, destination: location.Location, position: location.Location | ||
| ) -> bool: | ||
| """ | ||
| Check if drone is within acceptance radius of target destination | ||
| """ | ||
| if (destination.location_x - position.location_x) <= self.acceptance_radius and ( | ||
| destination.location_y - position.location_y | ||
| ) <= self.acceptance_radius: | ||
| return True | ||
| return 0 |
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side note that sometimes it maybe worth while to make these helper functions static
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| if self.reaching: | ||
| reached = self.reached_destination(self.waypoint, report.position) | ||
| if report.status == drone_status.DroneStatus.HALTED and not reached: | ||
| command = commands.Command.create_set_relative_destination_command( | ||
| self.waypoint.location_x, self.waypoint.location_y | ||
| ) | ||
| elif report.status == drone_status.DroneStatus.HALTED and reached: |
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I would probably move halted to top level since it is apart of all nested conditions, and use elif on the current else.
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| if report.status == drone_status.DroneStatus.HALTED and not self.landing and at_pad: | ||
| command = commands.Command.create_land_command() | ||
| self.landing = True |
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| if res is True: | ||
| boxes.append(box) |
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note that it is generally a common convention is to disregard all results if any of the bounding boxes error out (indicating code/model produced garbage output). tho you don't have to it here
AaronWang04
approved these changes
Nov 30, 2024
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| if not self.landing and at_pad: | ||
| command = commands.Command.create_land_command() | ||
| self.landing = True |
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just need an else statement to send the drone to the landing pad again
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