payload.modes.PayloadWaitForDriveOutMode#

PayloadWaitForDriveOutMode — waits until the plane has landed on the DLZ.

Primary detection: HSV orange mask — does the camera see the orange DLZ?

When orange coverage >= orange_pixel_threshold continuously for wait_seconds, the plane is confirmed landed → transition to reverse. Optical flow is NOT checked while orange is visible (moving objects in the background cannot disturb the timer).

Optical flow is only used when orange is absent: if the frame is still but no orange is visible, the camera may be obstructed (plane belly, etc.) → obstruction retreat. Optical flow state is reset whenever orange disappears so readings are fresh after a landing.

CV runs inline (no separate vision node). The v4l2 + camera nodes still launch.

Transitions:: “complete” -> whatever drive-out mode is configured in the mission YAML

Classes#

`PayloadWaitForDriveOutParams`
`DriveOutState`	Create a collection of name/value pairs.
`PayloadWaitForDriveOutMode`	Subscribe to the payload camera and detect when the plane has landed on the

Module Contents#

class PayloadWaitForDriveOutParams#

Bases: vehicle_common.mode_loader.ParamsBase

dlz_color_lower_hsv: List[int] = (5, 120, 120)#

dlz_color_upper_hsv: List[int] = (20, 255, 255)#

dlz_color_pixel_threshold: float = 0.04#

stillness_threshold: float = 2.0#

stillness_window: int = 15#

stillness_flow_crop_frac: float = 0.4#

obstruction_retreat_linear: float = -0.05#

obstruction_retreat_speed: float = 1.5#

obstruction_retreat_timeout_sec: float = 0.2#

dlz_color_wait_seconds: float = 7.0#

obstruction_frames: int = 20#

turn_angular: float = 3.141592653589793#

turn_speed: float = 1.85#

compressed_image: bool = False#

debug: bool = False#

class DriveOutState(*args, **kwds)#

Bases: enum.Enum

Create a collection of name/value pairs.

Example enumeration:

>>> class Color(Enum):
...     RED = 1
...     BLUE = 2
...     GREEN = 3

Access them by:

attribute access:
```
>>> Color.RED
<Color.RED: 1>
```
value lookup:
```
>>> Color(1)
<Color.RED: 1>
```
name lookup:
```
>>> Color['RED']
<Color.RED: 1>
```

Enumerations can be iterated over, and know how many members they have:

>>> len(Color)
3

>>> list(Color)
[<Color.RED: 1>, <Color.BLUE: 2>, <Color.GREEN: 3>]

Methods can be added to enumerations, and members can have their own attributes – see the documentation for details.

WAIT_UNREEL = 0#

OBSTRUCTION_RETREAT = 1#

REVERSING = 2#

TURNING = 3#

DONE = 4#

class PayloadWaitForDriveOutMode#

Bases: vehicle_common.mode.Mode

Subscribe to the payload camera and detect when the plane has landed on the DLZ. Confirmation requires BOTH:

Orange HSV coverage >= orange_pixel_threshold (DLZ visible)

Frame optical-flow magnitude < stillness_threshold (payload not moving)

Both conditions must hold continuously for wait_seconds before proceeding.

required_vision_nodes = ()#

requires_camera = True#

transition_labels = ('complete',)#

initialize(node: rclpy.node.Node, vehicle: payload.payload.Payload, params: PayloadWaitForDriveOutParams) → None#

_on_image(msg: sensor_msgs.msg.Image) → None#

_on_compressed_image(msg: sensor_msgs.msg.CompressedImage) → None#

_get_bgr_frame() → numpy.ndarray | None#

_now() → float#

_check_orange(bgr: numpy.ndarray) → tuple[bool, float, numpy.ndarray]#

_check_stillness(bgr: numpy.ndarray) → bool#

_publish_debug(bgr: numpy.ndarray, orange_found: bool, coverage: float, orange_mask: numpy.ndarray, is_still: bool | None) → None#: Publish debug image. is_still=None when orange is found (optical flow not run).

on_enter() → None#

on_update(time_delta: float) → None#

check_status() → str#

on_exit() → None#