uav.modes.PayloadDropoffMode

Classes

PayloadDropoffParams	offsets: Should denote the position of dropoff relative to the center of zone, in meters
PayloadDropoffMode	A mode for dropping off the payload.

Module Contents

class PayloadDropoffParams

Bases: vehicle_common.mode_loader.ParamsBase

offsets: Should denote the position of dropoff relative to the center of zone, in meters

In NED frame: x is forward, y is right, and z is down.

offsets: Tuple[float, float, float] | None = (0.0, 0.0, 0.0)

class PayloadDropoffMode

Bases: vehicle_common.mode.Mode

A mode for dropping off the payload.

required_vision_nodes

transition_labels = ('complete',)

initialize(node: rclpy.node.Node, vehicle: uav.vehicles.UAV.UAV, params: PayloadDropoffParams) → None

on_update(time_delta: float) → None

Periodic logic for lowering payload and handling obstacles.

check_status() → str

Check the status of the payload lowering.

Returns:

The status of the payload lowering.

Return type:

str