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TODO w/ Mission Planner

๋ฏธ์…˜ ํ”Œ๋ž˜๋„ˆ์—์„œ ์ฒดํฌํ•  ๊ฒƒ๋“ค!!

5/19 ๋“œ๋ก  ์—ฐ๊ฒฐํ•˜๋Š”๊ฑฐ ๋ณด๊ณ  ์ฒ˜์Œ ๋‚ ๋ ค๋ด„

  1. WP๋ฅผ ์ถ”๊ฐ€ํ•˜์—ฌ (๋“œ๋ก ์—)์ƒˆ๋กœ ์“ฐ๊ธฐํ–ˆ์„ ๋•Œ ํ™ˆ์œผ๋กœ ๋˜๋Œ์•„๊ฐ€์„œ ๋‹ค์‹œ ์‹œ์ž‘ํ•˜๋Š”๊ฐ€
  • no: RTL ์‚ฌ์šฉ ๊ฐ€๋Šฅ
  • Yes: ๋ณต๊ท€์‹œ ์ตœ์ดˆ ํ™ˆ์„ ๋ชฉ์ ์ง€๋กœ ํ•ด์„œ ์ƒˆ๋กœ...
  1. LAND์˜ ์ž‘๋™ ์ˆœ์„œ?
  • LAND์™€ WP๋ฅผ ๊ฐ™์ด ์‚ฌ์šฉํ•ด์•ผํ•˜๋Š”์ง€, LAND๋งŒ ๋‹จ๋…์‚ฌ์šฉ ๊ฐ€๋Šฅํ•œ์ง€
  1. ๋‹ค์Œ WP๋ฅผ ๋ฐ›๊ธฐ ์ „์— WP ๋ชฉ์ ์ง€์— ๋จผ์ € ๋„์ฐฉํ–ˆ์„ ๋•Œ ๋“œ๋ก ์ด ์–ด๋–ค ๋น„ํ–‰์„ ํ•˜๋Š๋ƒ?
  2. ์†๋„์กฐ์ ˆ
  • ๋›ฐ๋ฉด ๋’ค์ฒ˜์งˆ์ˆ˜์žˆ์Œ
  • ์†๋„์กฐ์ ˆ์€ ๋“œ๋ก ์˜ ํ™˜๊ฒฝ ์„ค์ •์—์„œ ๊ฑด๋“œ๋ ค์•ผํ•จ
  • ์ด๊ฑฐ ํ•˜๋ ค๋ฉด GPS ์œ„์น˜์— ๋”ฐ๋ฅธ ๊ฑฐ๋ฆฌ๋ฅผ ๋™์ผ ์‹œ๊ฐ„๋‚ด์— ์ด๋™ํ•ด์•ผ ํ•˜๋ฏ€๋กœ ๊ณ„์‚ฐ์ด ํ•„์š”...
  1. ๊ณ ๋„: ์ƒ๋Œ€๊ณ ๋„? (optional)

๋ฏธ์…˜ํ”Œ๋ž˜๋„ˆ ์‹คํ—˜๊ฒฐ๊ณผ

  • WP ํŒŒ์ผ์— Home์€ ๋น„ํ–‰๊ฒฝ๋กœ์— ์—ฐ๊ด€ ์—†์Œ
  • RTL: Home์ด ์•„๋‹Œ ์ฒ˜์Œ ๋œฌ ์ž๋ฆฌ (LAND ๋ฏธํฌํ•จ)
  • WP๋ฎ์–ด์“ฐ๊ธฐ: ๋ฎ์–ด์“ด WP์˜ 1๋ฒˆ๋ถ€ํ„ฐ ์‹œ์ž‘ (Auto ๋ชจ๋“œ์ธ ๊ฒฝ์šฐ, ๋‹ค์‹œ Auto๋ชจ๋“œ๋กœ ์žฌ์„ค์ • ํ•ด์ค˜์•ผ ์‹ค์ œ ์ ์šฉ)
  • WP ๋ฏธ์…˜ ์™„๋ฃŒ์‹œ ์ œ์ž๋ฆฌ(Loiter)
  • Auto ๋ฏธ์…˜ ์ˆ˜ํ–‰์ค‘ ๋‹ค๋ฅธ ๋ชจ๋“œ ์ „ํ™˜ํ•˜๊ณ  ๋‚˜์„œ Auto๋กœ ๋ณต๊ท€: ์™„๋ฃŒ ์•ˆ๋œ WP๋กœ ์ž๋™ ์žฌ๊ฐœ
  • Yaw๊ฐ’์€ ์ด๋™๋ฐฉํ–ฅ ๋”ฐ๋ผ ์•Œ์•„์„œ ์ „ํ™˜๋จ.
  • WP ๋‚ด๋ถ€์˜ CurrentWP์— ๋”ฐ๋ผ ์ค‘๊ฐ„๋ถ€ํ„ฐ ์‹œ์ž‘ ๊ฐ€๋Šฅํ•œ์ง€ ์ฒดํฌํ•ด๋ณผ๊ฒƒ
  • Pi์— ์˜ํ•ด ์˜ค๋ฒ„๋ผ์ด๋“œ ์ค‘ ์ƒˆ๋กœ์šด ๊ฒฝ๋กœ๊ฐ€ ์ž…๋ ฅ๋  ๋•Œ..
  • Auto ๋ชจ๋“œ์ด๋ฉด ๋‹ค์‹œ Auto์ปค๋งจ๋“œ, ์•„๋‹ˆ๋ฉด Pi๊ฐ€ ๋ฐ”๊ฟ€๋•Œ๊นŒ์ง€ ๋ƒ…๋‘ 
  • Auto ์ƒํƒœ์—์„œ ๋‹ค์‹œ Auto์ปค๋งจ๋“œ๋ฅผ ๋„ฃ์—ˆ์„ ๋•Œ ์žฌ์‹œ์ž‘์ด ๋˜๋Š๋ƒ!

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