GPS and Drone Modules #1
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| @@ -159,6 +159,11 @@ private enum Header | |||
| lidar_get_samples, | |||
| physics_get_linear_acceleration, | |||
| physics_get_angular_velocity, | |||
| physics_get_position, | |||
| drone_get_drone_image, | |||
| drone_get_drone_height, | |||
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Let's make get_drone_height vs set_height consistent. I'm personally a fan of just drone_get_image and drone_get_height to be concise and avoid repetition.
| @@ -40,7 +40,7 @@ public class PythonInterface | |||
| /// <summary> | |||
| /// The time (in ms) to wait for Python to respond. | |||
| /// </summary> | |||
| private const int timeoutTime = 5000; | |||
| private const int timeoutTime = 20000; //changed this from 5000 to 20000 since image processing takes > 5s | |||
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On the other hand, it is a bad user experience to have something to go wrong and hang 20 seconds before seeing an error. Let's discuss this in person and find a way to keep the timeout at 5 seconds. We should be running at ~60 frames per second, so a 5 second timeout is already extremely generous.
| /// </summary> | ||
| private bool mustUpdateDroneImageRaw; | ||
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| private void UpdateDroneImageRaw() |
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There is a lot of duplicated logic between Drone.cs and CameraModule.cs. Can we factor out the duplicate logic into a utils class instead?
| /// The average relative error of position measurements. | ||
| /// This value is made up (it is NOT specified in the Intel RealSense D435i datasheet). | ||
| /// </summary> | ||
| private const float positionErrorFactor = 0.001f; |
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Just wondering: where did you get these numbers from?
| /// The average fixed error applied to all position measurements. | ||
| /// This value is made up (it is NOT specified in the Intel RealSense D435i datasheet). | ||
| /// </summary> | ||
| private const float positionErrorFixed = 0.005f; //old value => 4.90f |
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Where did the old value (4.90f) come from?
| @@ -82,6 +94,32 @@ public Vector3 AngularVelocity | |||
| return this.angularVelocity.Value; | |||
| } | |||
| } | |||
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| /// <summary> | |||
| /// The position of the car (in meters). | |||
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Update the summary to clarify "position relative to what"
| { | ||
| if (!this.position.HasValue) | ||
| { | ||
| // Unity uses a left-handed coordinate system, but our API is right-handed |
| @@ -72,6 +72,11 @@ public class Racecar : MonoBehaviour | |||
| /// The heads-up display controlled by this car, if any. | |||
| /// </summary> | |||
| public Hud Hud { get; set; } | |||
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| /// <summary> | |||
| /// Exposes the drone model. | |||
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Go ahead and move this above the Hud so it is right after the PhysicsModule (to keep the modules together)
| @@ -40,7 +40,7 @@ public class PythonInterface | |||
| /// <summary> | |||
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Above, you need to change private const int version = 1; to 2 because you are updating the communication protocol
Added all new files and modifications to old files for the GPS and drone modules (on the C# side).