PennAiR Monorepo

uav.modes.WaypointMission#

Classes#

`WaypointMissionParams`
`WaypointMission`	Simple waypoint mission for testing scoring node.

Functions#

main([args])

Module Contents#

class WaypointMissionParams#

Bases: vehicle_common.mode_loader.ParamsBase

waypoints: List[List[float]] = None#

waypoint_tolerance: float = 0.5#

speed: float = 1.0#

loiter_time: float = 1.0#

altitude: float = 2.0#

class WaypointMission#

Bases: vehicle_common.mode.Mode

Simple waypoint mission for testing scoring node. Flies through a series of waypoints defined in YAML.

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

on_enter()#: Called when mode is activated.

on_exit()#: Called when mode is deactivated.

on_update(time_delta: float)#: Periodic update called by ModeManager.

check_status() → str#: Check if the mode should deactivate.

start_mission()#: Start the mission after initial delay.

publish_offboard_control_mode()#: Publish offboard control mode.

arm_vehicle()#: Arm the vehicle.

main(args=None)#