Arushi's pull request #149
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| # Plot the annotated image from the Result object | ||
| # Include the confidence value | ||
| image_annotated = ... | ||
| image_annotated = prediction.plot() |
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Please include the confidence value in the image as indicated above, set it using a kwarg like in the predict() method
| # when the drone is halted but not at the destination | ||
| if ( | ||
| report.status == drone_status.DroneStatus.HALTED | ||
| and report.destination != self.waypoint |
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Rather than using direct equality comparison of floating point numbers (which are not very accurate and may not give you the result you want), you should use the self.acceptance_radius as a guide.
| and report.destination != self.waypoint | ||
| ): | ||
| command = commands.Command.create_set_relative_destination_command( | ||
| self.waypoint.location_x, self.waypoint.location_y |
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This is a relative distance command, so your own position matters
| # when the drone is at the destination and is halted | ||
| if ( | ||
| report.status == drone_status.DroneStatus.HALTED | ||
| and report.destination == self.waypoint |
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Again, use acceptance radius rather than equality
| # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑ | ||
| # ============ | ||
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| def min_dist_squared(self, landing_pads: location.Location) -> float: |
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You should rename your function and its parameters to match the description better. But good job including a doc string!
| if report.status == drone_status.DroneStatus.HALTED: | ||
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| # when drone is at the nearest landing pad | ||
| if self.has_sent_landing_command: |
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Rename this variable to something else, as it feels awkward to send a land command after "has_sent_landing_command" is true. Code readability and communication is also important!
| # setting relative destination to designated waypoint | ||
| elif proximity > self.acceptance_radius and not self.has_sent_landing_command: | ||
| command = commands.Command.create_set_relative_destination_command( | ||
| self.waypoint.location_x, self.waypoint.location_y |
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Relative distance command, your own position matters
| self.has_sent_landing_command = True | ||
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| # setting relative destination to designated waypoint | ||
| elif proximity > self.acceptance_radius and not self.has_sent_landing_command: |
| # * device | ||
| # * verbose | ||
| predictions = ... | ||
| # model = ultralytics.YOLO("yolov8n.pt") |
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You can delete commented out code since that's what git is for, it keeps track of history for you
| # when the drone is at the destination and is halted | ||
| if ( | ||
| report.status == drone_status.DroneStatus.HALTED | ||
| and proximity < self.acceptance_radius |
| # Plot the annotated image from the Result object | ||
| # Include the confidence value | ||
| image_annotated = ... | ||
| image_annotated = prediction.plot(conf=0.7) |
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this should be a boolean, ie to include it in the image or not
| proximity = (self.waypoint.location_x - report.position.location_x) ** 2 + ( | ||
| self.waypoint.location_y - report.position.location_y | ||
| ) ** 2 |
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Also, you are constantly calculating the distance to the waypoint, which is probably not necessary all the time, such as after you reached the waypoint
| new_pad = landing_pads | ||
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| command = commands.Command.create_set_relative_destination_command( | ||
| new_pad.location_x - self.waypoint.location_x, |
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This should be your own position: if your drone stopped midway to the waypoint, it would overshoot the landing pad by a lot
| # Plot the annotated image from the Result object | ||
| # Include the confidence value | ||
| image_annotated = ... | ||
| image_annotated = prediction.plot(conf=1) |
| if new_pad == self.waypoint: | ||
| command = commands.Command.create_set_relative_destination_command( | ||
| self.waypoint.location_x - report.position.location_x, | ||
| self.waypoint.location_y - report.position.location_y, | ||
| ) | ||
| self.send_landing_command = True | ||
| else: | ||
| command = commands.Command.create_set_relative_destination_command( | ||
| new_pad.location_x - report.position.location_x, | ||
| new_pad.location_y - report.position.location_y, | ||
| ) |
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This if statement doesn't really accomplish anything, both of them just go to new_pad. I meant your proximity variable is always distance to waypoint, so what happens if has_sent_landing_command is True (you reached the waypoint) but the drone halts and you are no longer close to the waypoint? You only rely on send_landing_command=True to land the drone, so it'll land anywhere it stops. I see that you added a has_reached_waypoint variable, but it is not used anywhere
| # when the drone is at the destination and is halted | ||
| if ( | ||
| report.status == drone_status.DroneStatus.HALTED | ||
| and proximity < self.acceptance_radius**2 |
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You should probably put <= just in case that it happens to be equal.
| # calculating location of nearest landing pad | ||
| smallest_dist_x = float("inf") | ||
| smallest_dist_y = float("inf") | ||
| smallest_dist = smallest_dist_x**2 + smallest_dist_y**2 |
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You can just set it to infinity, as you don't really need to calculate infinity squared
| smallest_dist_x - report.position.location_x, | ||
| smallest_dist_y - report.position.location_y, | ||
| ) | ||
| self.reached_landing_pad = True |
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You don't really know that the drone has reached the landing pad here, you only know that you told the drone to go towards the landing pad. What if it doesn't get there?
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| # if drone halts unexpectedly, neither at the waypoint or at the nearest landing pad | ||
| else: | ||
| command = commands.Command.create_set_relative_destination_command( |
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How do you know that you should go to the waypoint and not the landing pad? What if you were en route towards the landing pad?
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