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Lidar-Based Navigation Flow Diagram

This flow diagram shows the process for controlling a drone based on lidar distance readings. It starts by initializing navigation states and checking the lidar distance, pitching and yawing the drone or holding its position depending on the reading. It then sets throttle based on navigation state and additional lidar checks before ending.

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AliMubarak
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4 views1 page

Lidar-Based Navigation Flow Diagram

This flow diagram shows the process for controlling a drone based on lidar distance readings. It starts by initializing navigation states and checking the lidar distance, pitching and yawing the drone or holding its position depending on the reading. It then sets throttle based on navigation state and additional lidar checks before ending.

Uploaded by

AliMubarak
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

FLOW DIAGRAM (FIRST DRAFT)

START

rcCommand[PITCH]= -5;
If yes delay = 500;
lidarDistance hold_position;
=< 100 delay = 1000;
rcCommand[YAW]= 45;

no

NAV_STATE_WAYPOINT_INITIALIZE,
NAV_STATE_WAYPOINT_PRE_ACTION, If yes
NAV_STATE_WAYPOINT_IN_PROGRESS, lidarDistance rcCommand[PITCH]= 15;
NAV_STATE_WAYPOINT_REACHED, => 150 delay = 500;
NAV_STATE_WAYPOINT_NEXT,
NAV_STATE_WAYPOINT_FINISHED,
NAV_STATE_WAYPOINT_RTH_LAND,

no

rcCommand[YAW]= -45;

END

If yes
rcCommand[PITCH]= 15;
lidarDistance
delay = 500;
=> 150

rcCommand[THROTTLE];

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