Add flight interface decision queue #189
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Trotyl15
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main_2024.py
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| flight_interface_to_data_merge_queue, | ||
| flight_interface_decision_queue, | ||
| controller, |
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flight_interface_to_data_merge_queue should go in the output_queues arg, and flight_interface_decision_queue should go in the input_queues arg
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| from ..logger import logger | ||
| from ..common.mavlink.modules import drone_odometry | ||
| from ..common.mavlink.modules import flight_controller | ||
| from ..decision_command import DecisionCommand |
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to follow the design pattern, use from .. import decision_command instead (to match the importing of odometry_and_time
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| MOVE_TO_RELATIVE_POSITION = 0 | ||
| MOVE_TO_ABSOLUTE_POSITION = 1 | ||
| LAND_AT_CURRENT_POSITION = 2 | ||
| LAND_AT_RELATIVE_POSITION = 3 | ||
| LAND_AT_ABSOLUTE_POSITION = 4 |
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make this an enum class
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| def apply_decision(self, decision: decision_command.DecisionCommand) -> None: | ||
| """ | ||
| Apply the given decision command to the flight controller. | ||
| """ | ||
| self.controller.upload_commands(decision) |
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I think flight controller expects a list of dronekit.Command objects, not a DecisionCommand object, couple options here:
- we could either change the function in common to accept a list of DecisionCommand objects and use enums to determine what dronekit.Command object to send (I like this option)
- change this function to determine what dronekit.Command object to send based on enums
- change the interface between flight interface and decision to pass dronekit.Command objects instead of DecisionCommand objects
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