Autonomous Landing Module by ellyokes253 · Pull Request #235 · UWARG/computer-vision-python

ellyokes253 · 2025-01-14T09:11:31Z

Created the module for Autonomous Landing and making progress on creating the autonomous landing worker as well.

maxlou05

Reviewed

maxlou05 · 2025-01-24T21:48:25Z

modules/auto_landing/auto_landing.py

+        self.__logger = local_logger
+
+    def run(
+        self, bounding_box: detections_and_time.Detection


I think you'll be getting a MergedOdometryDetections object, which will have a list of Detection objects

maxlou05 · 2025-01-24T21:49:20Z

modules/auto_landing/auto_landing.py

@@ -0,0 +1,100 @@
+""" 
+Auto-landing script.


Add calculates the parameters necessary for use with LANDING_TARGET MAVLink command

maxlou05 · 2025-01-24T21:50:38Z

modules/auto_landing/auto_landing.py

+
+class AutoLanding:
+    """
+    Auto-landing script.


Copy new file docstring here

modules/auto_landing/auto_landing.py

maxlou05 · 2025-01-24T21:52:38Z

modules/auto_landing/auto_landing.py

+
+import math
+
+from pymavlink import mavutil


I'm pretty sure you won't need this library

maxlou05 · 2025-01-24T21:56:48Z

modules/auto_landing/auto_landing.py

+        vehicle = mavutil.mavlink_connection("tcp:localhost:14550")
+        try:
+            height_agl_mm = vehicle.messages[
+                "GLOBAL_POSITION_INT"
+            ].relative_alt  # copied from blue_only.py
+            height_agl = max(height_agl_mm / 1000, 0.0)


If we need altitude information, you cannot create another connection to the drone since FlightInterface already has one. You need to get the merged_odometry_detections.MergedOdometryDetections object from data merge worker. The altitude is agl which is the same as local altitude I think, so you can directly use that

Also, this portion should also go into the run() function, as altitude will change as the drone lands, and is not constant

maxlou05 · 2025-01-24T22:01:21Z

modules/auto_landing/auto_landing.py

+        ground_hyp = (x_dist**2 + y_dist**2) ** 0.5
+        self.__logger.info(f"Required horizontal correction (m): {ground_hyp}", True)
+        target_to_vehicle_dist = (ground_hyp**2 + self.height_agl**2) ** 0.5
+        self.__logger.info(f"Distance from vehicle to target (m): {target_to_vehicle_dist}", True)


I think that instead of making 4 separate lines in the log, you can combine all of these into 1 line, so the timestamps look better (these calculations should be fast anyways)

modules/auto_landing/auto_landing.py

achitaan · 2025-02-04T05:43:37Z

modules/auto_landing/auto_landing.py

+
+    @classmethod
+    def create(
+        cls, angle_x: float, angle_y: float, target_dist: float


This method can be removed:

you dont really need the create method, just move the doc string inside the constructor.
just imagine this as a struct like in C++ to keeps things nice rather than an actual class

achitaan · 2025-02-04T05:44:44Z

modules/auto_landing/auto_landing.py

+
+    def run(
+        self, odometry_detections: merged_odometry_detections.MergedOdometryDetections
+    ) -> "AutoLandingInformation":


Change this to accurately get the output:

tuple[bool, AutoLandingInformation]

achitaan · 2025-02-09T20:17:22Z

modules/auto_landing/auto_landing.py

+
+class AutoLandingInformation:
+    """
+    Information necessary for the LANDING_TARGET MAVlink command.


Move this into the init docstring

achitaan · 2025-02-09T20:25:51Z

modules/auto_landing/auto_landing.py

+        return True, AutoLandingInformation(angle_x, angle_y, target_to_vehicle_dist)
+
+
+class AutoLandingInformation:


Reorder this so it is the first class in the file

achitaan · 2025-02-09T20:27:14Z

modules/auto_landing/auto_landing.py

+
+    def __init__(self, angle_x: float, angle_y: float, target_dist: float) -> None:
+        """
+        angle_x: Angle of the x coordinate of the bounding box (rads).


Add specifications to this, what angles are allowed?

maxlou05

Reviewed

maxlou05 · 2025-02-17T02:27:01Z

modules/auto_landing/auto_landing.py

+        angle_x = (x_center - self.im_w / 2) * (self.fov_x * (math.pi / 180)) / self.im_w
+        angle_y = (y_center - self.im_h / 2) * (self.fov_y * (math.pi / 180)) / self.im_h
+
+        height_agl = odometry_detections.odometry_local.position.down * -1


Maybe a comment here that says height above ground level (AGL), and that down is how many meters down you are from home position, which is on the ground. Hence the * -1

maxlou05 · 2025-02-17T02:29:02Z

modules/auto_landing/auto_landing.py

+        Returns an AutoLandingInformation object.
+        """
+
+        x_center, y_center = odometry_detections.detections[0].get_centre()


Add comment with TODO: come up with a better algorithm to pick which detection to land at, if many are detected in one frame.

maxlou05 · 2025-02-17T02:32:01Z

modules/auto_landing/auto_landing.py

+from ..common.modules.logger import logger
+from .. import merged_odometry_detections


Can you put this in alphabetical order? So .. goes before ..common

maxlou05 · 2025-02-17T02:32:40Z

modules/auto_landing/auto_landing_worker.py

+from utilities.workers import queue_proxy_wrapper
+from utilities.workers import worker_controller
+from . import auto_landing
+from ..common.modules.logger import logger


Can you put this in alphabetical order? So just put the last two on top

maxlou05 · 2025-02-17T02:36:33Z

modules/auto_landing/auto_landing.py

+            True,
+        )
+
+        time.sleep(self.period)


Can we move this to the worker and not the class' run() function? So remove the period from the class __init__ and create as well

maxlou05 · 2025-02-17T02:39:20Z

modules/auto_landing/auto_landing_worker.py

+    local_logger.info("Logger initialized", True)
+
+    result, auto_lander = auto_landing.AutoLanding.create(
+        fov_x, fov_y, im_h, im_w, period, local_logger


See comment about period

maxlou05 · 2025-02-17T02:39:36Z

modules/auto_landing/auto_landing_worker.py

+        if not result:
+            continue
+
+        output_queue.queue.put(value)


Place wait(period) down here, after this

maxlou05

Approved!

* intial commit * added files * removed old module * made class * made changes * added worker * made changes * issues commiting, now fixed * made changes * linter issues fixed * fixing linter issues * fixing code and linter issues * continuation of debugging * fixing linter issues * fixing logger initialization * fixing last linter issues * last few linter issues * last few changes * updated changes * fixing small linter issue * fixed run() * pulling new commit changes in common * fixing linter error * using first bbox * added AutoLandingInformation object * fixing small mistakes * redefined AutoLandingInformation class * added changes * fixed linter issues

ellyokes253 added 18 commits December 28, 2024 22:23

intial commit

178b772

added files

3954351

removed old module

b80e668

made class

8b822e0

made changes

fd8241f

added worker

265cae9

made changes

6fd5f9e

issues commiting, now fixed

8b1c536

made changes

876b714

linter issues fixed

0b07de1

fixing linter issues

38aad9b

fixing code and linter issues

1c5b247

continuation of debugging

398edaa

fixing linter issues

dc81d8e

fixing logger initialization

af13347

fixing last linter issues

6f4c829

last few linter issues

224a7dc

last few changes

c0af0dc

maxlou05 reviewed Jan 24, 2025

View reviewed changes

ellyokes253 added 8 commits January 25, 2025 02:25

updated changes

fb1e009

fixing small linter issue

44656ad

fixed run()

619f8d7

pulling new commit changes in common

fbfcc79

fixing linter error

3bca007

using first bbox

3ff8098

added AutoLandingInformation object

7aa2f46

fixing small mistakes

a6b98e6

achitaan reviewed Feb 5, 2025

View reviewed changes

ellyokes253 added 2 commits February 5, 2025 12:09

redefined AutoLandingInformation class

e2428ef

results of new merge

dec4a18

achitaan reviewed Feb 9, 2025

View reviewed changes

added changes

1ff5d4e

maxlou05 reviewed Feb 17, 2025

View reviewed changes

rebased and fixed comments

e882a42

maxlou05 approved these changes Feb 17, 2025

View reviewed changes

fixed linter issues

17cd52a

ellyokes253 merged commit b526565 into main Feb 17, 2025
1 check passed

ellyokes253 deleted the autonomous-landing branch February 17, 2025 04:19

		return True, AutoLandingInformation(angle_x, angle_y, target_to_vehicle_dist)


		class AutoLandingInformation:

		from ..common.modules.logger import logger
		from .. import merged_odometry_detections

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ellyokes253 commented Jan 14, 2025

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