Merge pull request #332 from tritonuas/fix/forward-pathing

Forward Pathing Fix

Author: AskewParity

protos

@@ -645,21 +645,20 @@ MissionPath generateInitialPath(std::shared_ptr<MissionState> state) {
 MissionPath generateSearchPath(std::shared_ptr<MissionState> state) {
     std::vector<GPSCoord> gps_coords;
     if (state->config.pathing.coverage.method == AirdropCoverageMethod::Enum::FORWARD) {
-        LOG_F(FATAL, "Forward search path not fully integrated yet.");
-
         RRTPoint start(state->mission_params.getWaypoints().front(), 0);
 
         // TODO , change the starting point to be something closer to loiter
         // region
-        ForwardCoveragePathing pathing(start, SEARCH_RADIUS,
+        double scan_radius = state->config.pathing.coverage.camera_vision_m;
+        ForwardCoveragePathing pathing(start, scan_radius,
                                        state->mission_params.getFlightBoundary(),
                                        state->mission_params.getAirdropBoundary(), state->config);
 
         for (const auto &coord : pathing.run()) {
             gps_coords.push_back(state->getCartesianConverter()->toLatLng(coord));
         }
 
-        return MissionPath(MissionPath::Type::FORWARD, {});
+        return MissionPath(MissionPath::Type::FORWARD, gps_coords);
     } else {  // hover
         HoverCoveragePathing pathing(state);
 

src/pathing/static.cpp

@@ -158,11 +158,5 @@
       "Longitude": -76.4282527777778,
       "Altitude": 200.0
     }
-  ],
-  
-  "MappingBoundary": [
-    { "Latitude": 0.0, "Longitude": 0.0, "Altitude": 0.0},
-    { "Latitude": 0.0, "Longitude": 0.0, "Altitude": 0.0},
-    { "Latitude": 0.0, "Longitude": 0.0, "Altitude": 0.0}
   ]
 } 

tests/integration/util/mission_data_2020.json

@@ -146,11 +146,5 @@
             "Longitude": -76.4282527777778,
             "Altitude": 200
         }
-    ],
-    "MappingBoundary": [
-        { "Latitude": 38.314669, "Longitude": -76.547987, "Altitude": 0.0},
-        { "Latitude": 38.315873, "Longitude": -76.547611, "Altitude": 0.0},
-        { "Latitude": 38.315208, "Longitude": -76.54384, "Altitude": 0.0},
-        { "Latitude": 38.314008, "Longitude": -76.544237, "Altitude": 0.0}
     ]
 }