aau-cns / autonomy_engine Goto Github PK

Add a parameter to interpret the trajectories inside the config relative to that parameter.

See 962023b.

In the autonomy_node.cpp the logger is started after the first user input is requested. In case of errors with this input, this is not logged.

Thus I suggest starting the logger beforehand, as in commit d9c4f42.

For dates or times that are a single integer (i.e. at 09:00), the old logfile would print -9-0, instead -09-00 for the correct listing would be preferred.

Potential fix in commit d957c0f.

The state/initialization.cpp is missing an else if the watchdog is active:

    // Perform initialization of the watchdog and RC aux registration
    if (autonomy.opts_->activate_watchdog)
    {
      if (!(autonomy.startWatchdog() && autonomy.registerRCAux()))
      {
        autonomy.stateTransition("failure");
      }
+     else
+     {
+       // Transition to nominal
+      autonomy.stateTransition("nominal");
+     }
    }
    else
    {
      // Transition to nominal
      autonomy.stateTransition("nominal");
    }
  }

See also commit 8919476 for fix.

What happened?

The recent update allows the definition of an instances parameter in the config file.

However, for backward compatibility, it would be great if it is assumed to be instances=1 if this parameter is not defined.

Is there an existing issue for this?

• I have searched the existing issues

Operating System

Ubuntu 20.04

Hardware

Desktop PC

Flight Stack Version

1.0.0-rc3

Steps To Reproduce

1. Use the flightstack configuration with old config file (e.g. here.
2. Launch autonomy without instances parameter defined
3. Observe parameter loading error.

Relevant log output

[missions/mission_1/instances] parameter not defined. .
-------------------------------------------------
 >>> System state: FAILURE
-------------------------------------------------

-------------------------------------------------
 >>> System state: TERMINATION
-------------------------------------------------

Additional Information

No response