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A solution may be to relax the restriction in the first waypoint, allowing the delta to be smaller than the defined fixed value (5s in the current implementation)

We have to decide how we manage time inside the system. Currently, timestamps are generated with ros::Time::now(), and stamp in flight plans are defined wrt the mission start time (t = 0). We have to check if this is consistent for the rest of the project software, where UTC time is used.

A solution may be to make monitoring send all the information needed to solve the threats, as a snapshot of the information required from the database. This way, each other node involved in the resolution has the same information, and further access to the database (with potentially different information) is not needed.

A solution may be to use services that only update some piece of information inside the operation. For example, the tracking node could only update track, estimated_trajectory, current_waypoint, and time_tracked; and usp_manager could only update the flight_plan.

In the current state, monitoring checks always for conflicts. If an UAV is taking off, going to the first waypoint of the operation or landing, Monitoring detects a conflict (UAV out of operational volume) which is incorrect.

Hi
I am wondering if GAUSS software i will be available soon for use?
Thanks

It should check the size of the fields that are list, that current wp can not be 0, etc.

This behaviour is already implemented in the tracking_dev branch. But the current development is being done without it.
If this is not considered, could potentially avoid the detection of some conflicts, because of internal functioning of monitoring, whose detection algorithm is based on estimated trajectory overlaps in time and space.

For reference, see the attached image.

Monitorings consults how many geonfences are on the data base. Then ask from 0 to the geofence size the information of the geofences. The problem is that geofences can be stored in disorder or with an ID bigger than the geofence size. For example:

Geofence ids on data base: 0 1 2 3 4 | Monitoring works fine.
Geofence ids on data base: 2 1 4 8 5 | Monitorin asks for the geofences 0 1 2 3 4.

Operations: https://github.com/grvcTeam/gauss/blob/dev/usp_nodes/monitoring/src/monitoring.cpp#L465
Geofences: https://github.com/grvcTeam/gauss/blob/dev/usp_nodes/monitoring/src/monitoring.cpp#L221

It's a string! It's a uint32! ... It's ICAO!