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Mission takeoff fix #46

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merged 2 commits into from
Dec 3, 2020
Merged

Mission takeoff fix #46

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00a8edb
patch for takeoff wp write error
k2shah Nov 23, 2020
952c8c6
spelling
k2shah Nov 23, 2020
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37 changes: 19 additions & 18 deletions wadl/mission.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,11 +16,11 @@


class MissionParameters(Parameters):
"""Parameter container for seting missions parameters
"""Parameter container for setting missions parameters

Set paramters directly like how you would for a dictionary.
Set parameters directly like how you would for a dictionary.
``missionParameters = MissionParameters``
``missionParameters["Paramter"] = value``
``missionParameters["Parameter"] = value``

Args:
autoland (bool): land after route
Expand All @@ -31,7 +31,7 @@ class MissionParameters(Parameters):
assign (str): assignment option
N_bands (int): number of altitude bands
band_start (float): starting altitude band
band_step (float): step for the altiude bands
band_step (float): step for the altitude bands
offset_takeoff_dist (float): takeoff offset distance in (m)
offset_landf_dist (float): land offset distance in (m)

Expand Down Expand Up @@ -88,7 +88,7 @@ def __init__(self, missionParamters=None):
}

self.autoland = self.parameters["autoland"]
# altitude bands for vertical seperation
# altitude bands for vertical separation
self.nBands = self.parameters["N_bands"]
bandStep = self.parameters["band_step"]
bandStart = self.parameters["band_start"]
Expand Down Expand Up @@ -139,7 +139,7 @@ def fromSurvey(self, survey, showPlot=False):

# build mission.json header
self.buildMission()
# oraganze and build routes
# organize and build routes
self.buildRoutes(survey)

def fromDirc(self, srcDir):
Expand All @@ -155,7 +155,7 @@ def buildRoutes(self, survey):
routes = self.groupRoutes(survey)
routes = self.sortRoutes(routes)

# start plottng
# start plotting
fig, ax = plt.subplots(figsize=(16, 16))
survey.plotKeyPoints(ax)
cols = plt.cm.rainbow_r(np.linspace(0, 1, self.nBands))
Expand Down Expand Up @@ -251,7 +251,7 @@ def sortRoutes(self, routes):
# route sorting methods
@staticmethod
def headingAngle(route):
# returns the inital heading angle of a route
# returns the initial heading angle of a route
wp = route.waypoints
angle = np.arctan2(wp[1][1]-wp[0][1],
wp[1][0]-wp[0][0])
Expand All @@ -264,7 +264,7 @@ def eastStart(route):
return route.UTMcords[0][0]

@staticmethod
def eastStart(route):
def northStart(route):
# returns the northing of the starting point
route.GPS2UTM()
return route.UTMcords[0][1]
Expand All @@ -285,6 +285,7 @@ def offsetHome(self, home, pt, dist):

# helper functions to build the waypoint lists
def makeRoute(self, name, route, bandAlt=None, home=None):
xferSpd = route[0][3]
failsafe = {"rcLost": "GO_HOME",
"gpsLost": None,
"lowBattery": None,
Expand Down Expand Up @@ -315,8 +316,8 @@ def makeRoute(self, name, route, bandAlt=None, home=None):

# transit in. point camera down
lat, lng, alt, spd = route[0]
alt = alt if bandAlt is not None else bandAlt
pt = self.makePoint(lat, lng, bandAlt)
alt = alt if bandAlt is None else bandAlt
pt = self.makePoint(lat, lng, alt)
routeJson["segments"].append(self.makeWaypoint(pt, spd,
tilt=90, camera=2))

Expand All @@ -330,8 +331,8 @@ def makeRoute(self, name, route, bandAlt=None, home=None):
routeJson["segments"].append(self.makeWaypoint(pt, spd))
# ascend camera forward
lat, lng, alt, spd = route[-1]
alt = alt if bandAlt is not None else bandAlt
pt = self.makePoint(lat, lng, bandAlt)
alt = alt if bandAlt is None else bandAlt
pt = self.makePoint(lat, lng, alt)
routeJson["segments"].append(self.makeWaypoint(pt, spd, tilt=0))

if home is not None:
Expand All @@ -340,18 +341,18 @@ def makeRoute(self, name, route, bandAlt=None, home=None):
offsetPt = self.offsetHome(home, route[1],
self.parameters["offset_takeoff_dist"])
lat, lng, alt, spd = offsetPt
alt = alt if bandAlt is not None else bandAlt
alt = alt if bandAlt is None else bandAlt
pt = self.makePoint(lat, lng, alt)
routeJson["segments"].insert(0, self.makeWaypoint(pt, spd))
routeJson["segments"].insert(0, self.makeWaypoint(pt, xferSpd))

# transfer out
offsetPt = self.offsetHome(home, route[-1],
self.parameters["offset_land_dist"])
lat, lng, alt, spd = offsetPt
alt = alt if bandAlt is not None else bandAlt
alt = alt if bandAlt is None else bandAlt
pt = self.makePoint(lat, lng, alt)
routeJson["segments"].append(self.makeWaypoint(pt, spd))
# pre land
# pre-land
if self.parameters["pre_land_alt"] is not None:
pt = self.makePoint(lat, lng, self.parameters["pre_land_alt"])
routeJson["segments"].append(self.makeWaypoint(pt, 4))
Expand All @@ -375,7 +376,7 @@ def makePoint(lat, lng, alt):

@staticmethod
def makeWaypoint(pt, spd, camera=None, tilt=None):
# make paramter
# make parameter
param = {"avoidObstacles": True,
"avoidTerrain": True,
"speed": spd,
Expand Down