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PM Takeoff/Landing Implementation #25
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…into PM/New_Arch
nehasriva025
requested review from
Aidan-B,
SnackkOverflowError,
antholuo,
Gfcello and
JackGRWD
SnackkOverflowError
approved these changes
Feb 17, 2023
Gfcello
reviewed
Feb 17, 2023
PathManager/Src/PM_States.cpp
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| void CommsWithSystemManager::execute(PathManager* pathMgr) | ||
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| //GetSMIncomingData(); | ||
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Is there something missing here? Since the thread that calls PM handles the PM side of the message queues is this necessary?
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| /* TODO: All of this | ||
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SystemManager/Src/SM.cpp
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| path_manager->setSmStruct(*pm_instructions); | ||
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Can you use the sm_pm_queue status to check if there is new data from SM and only update this if there is new data? I worry that PM takes multiple execute calls to get through a full control loop.
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| AM::AttitudeManagerInput to_am_data = path_manager->getAmStruct(); | ||
| void* msg_pointer = &to_am_data; | ||
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Does this AmStruct get updated after each execute call?
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Description
PR for Takeoff/Landing with PM using speed targets. Includes message queue implementation with SM and AM.
Testing
Work in Progress
Documentation
https://uwarg-docs.atlassian.net/wiki/spaces/ZP/pages/2022146309/VTOL+Takeoff+and+Landing
https://uwarg-docs.atlassian.net/wiki/spaces/ZP/pages/2117664813/PM+Re+Architecture+For+MVP
Merge Checklist: