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slow on approach #21

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Merged
AidenFavish merged 3 commits into from
Feb 18, 2026
Merged

slow on approach #21

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753331e
implemented slow on approach
uavforgeuci Feb 17, 2026
66f5923
fixed bug
uavforgeuci Feb 17, 2026
be91dc4
ruff
uavforgeuci Feb 18, 2026
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19 changes: 13 additions & 6 deletions protocols/velocity_setpoint_protocol.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,21 +25,21 @@ def __init__(
waypoints: list[Waypoint],
boot_time_ms: int,
log_func=lambda msg: print(msg),
mission_phase: str = "cruise",
slow_on_approach: bool = True,
target_system: int = 1,
target_component: int = 0,
):
super().__init__()
self.current_pos = current_pos
self.waypoints = waypoints
self.boot_time_ms = boot_time_ms
self.mission_phase = mission_phase
self.slow_on_approach = slow_on_approach
self.target_system = target_system
self.target_component = target_component
self.log_func = log_func

# Base speed for mission phase
self.base_speed = self.SPEED_PROFILES.get(mission_phase, 10.0)
self.base_speed = 10.0

self.velocity_msg = SetpointVelocity(
self.target_system, self.target_component, self.boot_time_ms, 0.0, 0.0, 0.0
Expand All @@ -48,7 +48,11 @@ def __init__(
self.ack_msg = CommandAck()

def calculate_velocity_vector(
self, current_pos: np.ndarray, target_pos: np.ndarray, target_speed: float
self,
current_pos: np.ndarray,
target_pos: np.ndarray,
target_speed: float,
slow_on_approach: bool = True,
):
"""
Convert waypoint position to velocity vector:
Expand All @@ -70,7 +74,7 @@ def calculate_velocity_vector(
velocity = unit_direction * target_speed

# Slow down when close to/approaching waypoint
if distance < 15.0:
if slow_on_approach and distance < 15.0:
velocity /= 3.0

return velocity
Expand Down Expand Up @@ -142,7 +146,10 @@ def run(self, sender, receiver):
break

velocity_vector = self.calculate_velocity_vector(
current_position, waypoint_coords, optimal_speed
current_position,
waypoint_coords,
optimal_speed,
self.slow_on_approach,
)

self.velocity_msg.load(velocity_vector)
Expand Down