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Fly Search

TODO: link to code TODO: update once implemented

The Fly Search tick handles taking pictures while the plane is over the search zone.

When it first is created, it uploads the search zone coverage path to the pixhawk.

It operates on the following logic, run every tick:

  • If the plane is about to collide with an opposing plane, take evasive action.
  • If the plane is over the search zone and a picture hasn't been taken in the last 2 seconds, then take a picture.
  • If the search path has been completed, then transition to the CVLoiter state.

TODO: link to dynamic avoidance code once it is written TODO: link to camera code that actually takes the picture TODO: link to the mavlink client code that checks the current status of the waypoint mission and uploads the mission