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…integrates them into TinyMPC
…ing yaw to second gate
Poll the AI-deck corner link (gate8_link) each 50 Hz, project to a world-frame gate center via gate_pnp, and expose it through the visGate LOG/PARAM group. Perception only -- does not affect control. Wires gate8_link.o / gate_pnp.o / gate_pnp_params.o into the build. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
When gateNav.navEn=1, override the commander setpoint with a gate waypoint: latch the world gate center + approach direction on the first valid detection, then steer the MPC toward a through-point gateNav.through metres past the center along that direction, facing the gate, at gateNav.speed. The MPC plans position to the through-point and the stock PID does low-level + face-gate yaw -- reusing the cascade. Re-arms once the drone passes the gate. Default off (commander/hover unchanged). Exposes gateNav params + latch/target logs. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
circuit.en=1 flies a repeating oval through two SURVEYED gate world positions (circuit.gAx..gBz): an ellipse with the gate centers at the major-axis ends and semi-minor axis = circuit.loopW, at circuit.speed, facing the loop tangent (face-forward yaw). Joins at the nearest phase on enable. Overrides commander + single-gate nav; default off. Flown on odometry -- vision drift correction is the next stage. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Compare where the onboard vision says the drone is (imp_* = surveyed_gate - measured_offset, logged by the circuit run) against mocap ground truth, to quantify the camera + its calibration. - tinympc_circuit_run.py: stamp a host wall-clock `host_t` per row and write a `*.meta.json` sidecar recording the kalman.resetEstimation instant, so a run can be time-joined and frame-aligned to a concurrent mocap log. Flight logic unchanged. - compare_vision_truth.py: join a run CSV with a mocap_ros2_logger CSV, build the mocapWorld->reset-frame transform from the drone pose at reset (yaw + 3D translation; --align fit fallback), interpolate truth per row, and emit a per-frame comparison CSV (cam vs true vs odometry) plus RMS/bias/per-range summary. --sweep finds the camera latency; --gate-truth removes tape-survey error. Geometry validated against synthetic paired data. - README_camera_accuracy.md: end-to-end runbook (clock sync, mocap logger on tiger, flight, analyze) and how to read the output. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This reverts commit edeebdd.
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What changed
Why
The GAP8 deployment emits a safety-calibrated binary danger map rather than the legacy multitask probabilities. The controller must preserve that conservative interpretation without treating rejected gate geometry as permission.
Validation
Known gap
A full STM32 cross-build could not run because arm-none-eabi-gcc is absent and Docker access is unavailable.