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Flight Tests Success Bug Fix Patch #133

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merged 3 commits into from
Aug 11, 2020
Merged

Flight Tests Success Bug Fix Patch #133

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4c5d0c1
Updated large RFS mesh scaling
erwang01 Aug 5, 2020
15ce14b
Last fixes prior to flight. Also patched vertical dimension
erwang01 Aug 5, 2020
3f30991
Flight! Fix waypoint altitude. Fix Mesh rendering
erwang01 Aug 5, 2020
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45 changes: 13 additions & 32 deletions Assets/Scenes/Main.unity
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2 changes: 1 addition & 1 deletion Assets/Scripts/Drone Scripts/DroneProperties.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -169,7 +169,7 @@ private bool reachedCurrentDestination()
{
return true;
}
Debug.Log(Vector3.Distance(currentLocation, currentDestination));
// Debug.Log(Vector3.Distance(currentLocation, currentDestination));
return false;
}

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6 changes: 3 additions & 3 deletions Assets/Scripts/ROS Scripts/ROS Connections v2/Drones/Matrice_ROSDroneConnection.cs
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Expand Up @@ -285,7 +285,7 @@ public void StartMission()
Vector3 unityCoord = waypoint.gameObjectPointer.transform.localPosition;
GPSCoordinate rosCoord = WorldProperties.UnityCoordToGPSCoord(unityCoord);

MissionWaypointMsg new_waypoint = new MissionWaypointMsg(rosCoord.Lat, rosCoord.Lng, (float)rosCoord.Alt, 3.0f, 0, 0, MissionWaypointMsg.TurnMode.CLOCKWISE, 0, 30, new MissionWaypointActionMsg(0, command_list, command_params));
MissionWaypointMsg new_waypoint = new MissionWaypointMsg(rosCoord.Lat, rosCoord.Lng, (float)(rosCoord.Alt - home_position.GetAltitude()), 3.0f, 0, 0, MissionWaypointMsg.TurnMode.CLOCKWISE, 0, 30, new MissionWaypointActionMsg(0, command_list, command_params));
Debug.Log("Adding waypoint at: " + new_waypoint);
missionMsgList.Add(new_waypoint);
}
Expand Down Expand Up @@ -473,7 +473,7 @@ public void UpdateMissionHelper(UpdateMissionAction action)
Vector3 unityCoord = waypoint.gameObjectPointer.transform.localPosition;
GPSCoordinate rosCoord = WorldProperties.UnityCoordToGPSCoord(unityCoord);

MissionWaypointMsg new_waypoint = new MissionWaypointMsg(rosCoord.Lat, rosCoord.Lng, (float)rosCoord.Alt, 3.0f, 0, 0, MissionWaypointMsg.TurnMode.CLOCKWISE, 0, 30, new MissionWaypointActionMsg(0, command_list, command_params));
MissionWaypointMsg new_waypoint = new MissionWaypointMsg(rosCoord.Lat, rosCoord.Lng, (float)(rosCoord.Alt - home_position.GetAltitude()), 3.0f, 0, 0, MissionWaypointMsg.TurnMode.CLOCKWISE, 0, 30, new MissionWaypointActionMsg(0, command_list, command_params));
Debug.Log("Adding waypoint at: " + new_waypoint);
missionMsgList.Add(new_waypoint);
}
Expand Down Expand Up @@ -510,7 +510,7 @@ public void UpdateMissionHelper(UpdateMissionAction action)
Vector3 unityCoord = waypoint.gameObjectPointer.transform.localPosition;
GPSCoordinate rosCoord = WorldProperties.UnityCoordToGPSCoord(unityCoord);

MissionWaypointMsg new_waypoint = new MissionWaypointMsg(rosCoord.Lat, rosCoord.Lng, (float)rosCoord.Alt, 3.0f, 0, 0, MissionWaypointMsg.TurnMode.CLOCKWISE, 0, 30, new MissionWaypointActionMsg(0, command_list, command_params));
MissionWaypointMsg new_waypoint = new MissionWaypointMsg(rosCoord.Lat, rosCoord.Lng, (float)(rosCoord.Alt - home_position.GetAltitude()), 3.0f, 0, 0, MissionWaypointMsg.TurnMode.CLOCKWISE, 0, 30, new MissionWaypointActionMsg(0, command_list, command_params));
Debug.Log("Adding waypoint at: " + new_waypoint);
missionMsgList.Add(new_waypoint);
}
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88 changes: 86 additions & 2 deletions Assets/Scripts/WorldProperties.cs
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Expand Up @@ -37,7 +37,7 @@ public class WorldProperties : MonoBehaviour
[Header("Misc. State variables")]
public static GameObject worldObject;
public static GameObject placementPlane;
public static bool DJI_SIM = true;
public static bool DJI_SIM = false;

public static Vector3 actualScale;
public static Vector3 currentScale;
Expand Down Expand Up @@ -105,8 +105,92 @@ void Start()
MeshEarthPrefab.transform.localPosition = GPSCoordToUnityCoord(new GPSCoordinate(MeshLatitude, MeshLongitude, MeshAltitude));
MeshEarthPrefab.transform.localRotation = Quaternion.Euler(MeshRotation);
MeshEarthPrefab.transform.localScale = MeshScale;

/*
// close wall & road & field intersection.
GameObject meshScale1 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
meshScale1.name = "meshScale2";
meshScale1.transform.parent = this.transform;
meshScale1.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915317, -122.337779, 5.226));
meshScale1.transform.localScale = Vector3.one * (0.5f);

GameObject aircraft2 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
aircraft2.name = "aircraft 2";
aircraft2.transform.parent = this.transform;
aircraft2.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915070, -122.337683, 5.488));
aircraft2.transform.localScale = Vector3.one * (0.05f);

// Tree branch parkinglot corner.
GameObject meshScale2 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
meshScale2.name = "meshScale1";
meshScale2.transform.parent = this.transform;
meshScale2.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915008, -122.337913, 4.338));
meshScale2.transform.localScale = Vector3.one * (0.5f);

GameObject aircraft = GameObject.CreatePrimitive(PrimitiveType.Sphere);
aircraft.name = "aircraft 1";
aircraft.transform.parent = this.transform;
aircraft.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915028, -122.337692, 4.668));
aircraft.transform.localScale = Vector3.one * (0.05f);
// Far wall & road & field instersection.
GameObject meshScale3 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
meshScale3.name = "meshScale3";
meshScale3.transform.parent = this.transform;
meshScale3.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915683, -122.337788, 4.022));
meshScale3.transform.localScale = Vector3.one * (0.5f);

GameObject aircraft3 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
aircraft3.name = "aircraft 3";
aircraft3.transform.parent = this.transform;
aircraft3.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915051, -122.337695, 3.997));
aircraft3.transform.localScale = Vector3.one * (0.05f);
// Far tree
GameObject meshScale4 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
meshScale4.name = "meshScale4";
meshScale4.transform.parent = this.transform;
meshScale4.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915880, -122.338171, 6.902));
meshScale4.transform.localScale = Vector3.one * (0.5f);

// Stump near the tree closest to the house.
GameObject meshScale5 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
meshScale5.name = "meshScale5";
meshScale5.transform.parent = this.transform;
meshScale5.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915376, -122.338201, 1.459));
meshScale5.transform.localScale = Vector3.one * (0.5f);

GameObject aircraft5 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
aircraft5.name = "aircraft 5";
aircraft5.transform.parent = this.transform;
aircraft5.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915028, -122.337711, 1.858));
aircraft5.transform.localScale = Vector3.one * (0.05f);

// Power pole near the fork in the road.
GameObject meshScale7 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
meshScale7.name = "meshScale7";
meshScale7.transform.parent = this.transform;
meshScale7.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.914904, -122.337333, 2.237));
meshScale7.transform.localScale = Vector3.one * (0.5f);

GameObject aircraft7 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
aircraft7.name = "aircraft 7";
aircraft7.transform.parent = this.transform;
aircraft7.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915058, -122.337716, 2.631));
aircraft7.transform.localScale = Vector3.one * (0.05f);

// Stump at the entrance to the parking lot.
GameObject meshScale6 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
meshScale6.name = "meshScale6";
meshScale6.transform.parent = this.transform;
meshScale6.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915007, -122.337491, 2.522));
meshScale6.transform.localScale = Vector3.one * (0.5f);

GameObject aircraft6 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
aircraft6.name = "aircraft 6";
aircraft6.transform.parent = this.transform;
aircraft6.transform.localPosition = WorldProperties.GPSCoordToUnityCoord(new GPSCoordinate(37.915048, -122.337703, 2.948));
aircraft6.transform.localScale = Vector3.one * (0.05f);
*/
//AddClipShader(this.transform);

}

/// <summary>
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