Main repo is this one
This repo simply contains files that are needed either on the base station (for takeoff/land high-level commands) and on the SnapDragon.
This repo should be cloned as a submodule of PANTHER on the Intel NUC, and as a standalone repo on the base station and SnapDragon
The param used in these files
predictor.yaml
panther.yaml
panther/matlab/casadi_generated_files/params_casadi_prediction.yaml [To change the parameters of this file, you must change it in predictor.m, and run that file again]
panther/matlab/casadi_generated_files/params_casadi.yaml [To change the parameters of this file, you must change it in main.m, and run that file again]
are available in tag RAL_hw
(commit 922e2c1d5bcb693ae
of PANTHER). But check also these changes.
Additionally, you may want to change (for better performance) linear_solver_name='mumps'
to linear_solver_name='ma57'
(or ma27) in main.m
To install sympy in the SnapDragon or Sykorsky:
sudo apt-get install python-sympy --no-install-recommends
In Sykorsky: roslaunch behavior_selector gui.launch
The file generate_traj_params.py
will generate the .yaml
files that specify the trajectories of the obstacles. These files are then used by obstacle.launch
, which creates the corresponding parameters needed in obstacles.py
.
Approval for release: This code was approved for release by The Boeing Company in March 2021.