Competition/2024

[Tyler-Lentz]

Likely my final contribution to this repository, notwithstanding some more documentation if I get around to that, or any small things that need my help in the future.

Shoutout to everyone who contributed code to bring us this far, and an extra special shoutout to the competition crew for helping put together this final PR for the 23-24 year.

It's all a blur. I genuinely don't really remember everything that this PR added, but it basically finally made the OBC able to go through the entire mission and finally realized the vision that we had at the beginning of the school year. It is kind of surreal to see.

The commit from Anthony titled good luck is what we would have run on the plane during the competition flight if we had been able to take off. The commits after that were some final touchups I added because they had crossed my mind during the chaos of competition and I wanted to leave the code in a slightly better condition in this PR and not just make everything super scuffed.

Bonus Tyler Changes

1. Split up config file and mavlink parameter files
   • New method of running the program where you speciffy the config file and the flight platform you are running it on separately
   • documented in new README
   • also Add a couple of misc config options
2. Significantly beef up the README
   • I added a lot of explanations for incantations that I had been reciting a lot recently that I wasn't sure if anyone else really understood
3. I broke some unit tests, so I disabled them because I just wanted to see the green check mark... Sorry to the person that has to fix them in the future.
4. pass lint again
5. remove the home position setting code that caused us so many headaches on the flight line (this should eventually be readded, but triggered by a GCS form and such that it doesn't fuck with the altitude).

I won't really be dealing with these changes too much, so feel free to tinker with anything and everything and shape it to your guys' vision.

👋

[Samir-Rashid]

Looked through the code. This is a nice little time capsule of competition 🛩️ .

Great work this year, everyone! OBCPP took shape this year and was a great success. The camera and CV progress was crucial to the club, as we have never conquered these before. I am excited to see what the new software leads will do. The club is in a great position to smash every objective next year.

[atar13]

As Tyler said, it is surreal to see the OBC where it is now given that we started from nothing at the start of this year. (As a reminder, this was the state of the code 10 months ago 09bf97b).

Huge thanks to all those who poured hours in amidst everything else going on their lives. You all made the project what it is today.

While we didn't do as well as we had hoped at competition, I think this is one of the best years the software team (and TUAS) have had in a long time. As Samir said, the work everyone did with the camera and CV pipeline are crucial to the progress of the club. We had never previously gotten to the point where these were both integrated in the system and the plane could just take a photo and feed it into the pipeline running mid-flight. Paired with the integration of the airdrop stage, we're at the point where the software is capable of fully completing the mission. This might not seem like a huge accomplishment, but its something we were nowhere close to in years prior.

I can't wait to see what you all cook up for next year and remember to have fun amidst it all.

(Just adding two more changes to this PR: 1. comment on max_cv_pipelines 2. lint)

[jerukan]

banger pull request 🔥🔥🔥🔥🔥🔥