uav.vision_nodes.PayloadDriveOutNode#

PayloadDriveOutNode — detects whether the path ahead is clear for the payload to drive out.

Uses detect_payload_unreeled() to measure the white floor ratio in the bottom 25% of the frame. A high white_ratio means the ramp/floor is visible and clear to drive out.

Classes#

PayloadDriveOutNode

Functions#

`_request_hsv_or_default`(→ tuple[int, int, int])
`main`(→ None)

Module Contents#

_request_hsv_or_default(values: collections.abc.Sequence[int] | numpy.ndarray, default: tuple[int, int, int]) → tuple[int, int, int]#

class PayloadDriveOutNode#

Bases: vehicle_common.base.VisionNode

srv#

CLEAR_THRESHOLD = 0.3#

_debug_pub = None#

_service_callback(request: uav_interfaces.srv.PayloadDriveOutState.Request, response: uav_interfaces.srv.PayloadDriveOutState.Response) → uav_interfaces.srv.PayloadDriveOutState.Response#

main() → None#