From 95df2102293aa184c33548e1fd90df8fd294778a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Tue, 10 Sep 2024 12:32:08 +0200
Subject: [PATCH] [Payload][Wing] Update default deployment altitude and
default targets
---
src/boards/Payload/Configs/WingConfig.h | 11 +++++------
src/boards/Payload/Radio/MessageHandler.cpp | 2 +-
2 files changed, 6 insertions(+), 7 deletions(-)
diff --git a/src/boards/Payload/Configs/WingConfig.h b/src/boards/Payload/Configs/WingConfig.h
index 7b530a01a..33b3f342d 100644
--- a/src/boards/Payload/Configs/WingConfig.h
+++ b/src/boards/Payload/Configs/WingConfig.h
@@ -51,16 +51,15 @@ enum class AlgorithmId : size_t
namespace Default
{
-// TODO: Verify the default target coordinates for all sites
#if defined(EUROC)
constexpr auto TARGET_LAT = 39.389733f;
constexpr auto TARGET_LON = -8.288992f;
#elif defined(ROCCARASO)
-constexpr auto TARGET_LAT = 41.809216;
-constexpr auto TARGET_LON = 14.055310;
+constexpr auto TARGET_LAT = 41.8091998f;
+constexpr auto TARGET_LON = 14.0552026f;
#else // Milan
-constexpr auto TARGET_LAT = 45.5010679f;
-constexpr auto TARGET_LON = 9.1563769f;
+constexpr auto TARGET_LAT = 45.5014089f;
+constexpr auto TARGET_LON = 9.1543615f;
#endif
constexpr auto ALGORITHM = AlgorithmId::EARLY_MANEUVER;
@@ -99,7 +98,7 @@ namespace AltitudeTrigger
{
/* linter off */ using namespace Boardcore::Units::Frequency;
-constexpr auto DEPLOYMENT_ALTITUDE = 300; // [meters]
+constexpr auto DEPLOYMENT_ALTITUDE = 450; // [meters]
constexpr auto CONFIDENCE = 10; // [samples]
constexpr auto UPDATE_RATE = 10_hz;
} // namespace AltitudeTrigger
diff --git a/src/boards/Payload/Radio/MessageHandler.cpp b/src/boards/Payload/Radio/MessageHandler.cpp
index 03dd90a51..f9ab030c8 100644
--- a/src/boards/Payload/Radio/MessageHandler.cpp
+++ b/src/boards/Payload/Radio/MessageHandler.cpp
@@ -221,7 +221,7 @@ void Radio::MavlinkBackend::handleMessage(const mavlink_message_t& msg)
parent.getModule<AltitudeTrigger>()->setDeploymentAltitude(
altitude);
- if (altitude < 100 || altitude > 3000)
+ if (altitude < 200 || altitude > 450)
{
return enqueueWack(msg);
}
--
GitLab