Derek Gou - Bootcamp PR by derekGou · Pull Request #4 · UWARG/autonomy-bootcamp-2025-p2

derekGou · 2025-09-09T20:56:01Z

🙏

ellyokes253 · 2025-09-15T16:09:04Z

logs/heartbeat_receiver_logs/main.log

+20:30:25: [INFO] [/Users/derekgou/autonomy-bootcamp-2025-p2/tests/integration/test_heartbeat_receiver.py | main | 111] Connected!
+20:30:26: [INFO] [/Users/derekgou/autonomy-bootcamp-2025-p2/tests/integration/test_heartbeat_receiver.py | read_queue | 69] Connected


your main log is missing when the heartbeat receiver doesn't recieve any heartbeats

ellyokes253 · 2025-09-15T16:13:03Z

logs/heartbeat_sender_logs/main.log

@@ -0,0 +1,2 @@
+20:22:16: [INFO] [/Users/derekgou/autonomy-bootcamp-2025-p2/modules/common/modules/logger/logger_main_setup.py | setup_main_logger | 62] main logger initialized


you're missing the heartbeat_sender_drone_###### file

ellyokes253 · 2025-09-15T16:25:49Z

modules/telemetry/telemetry.py

+        elif msg.get_type() == "ATTITUDE":
+            self.last_attitude = msg
+
+        # Only return if we have both types


you're missing the logic for what happens when it doesn't receive both types in 1 second - what should the logger show?

ellyokes253 · 2025-09-15T16:26:33Z

modules/telemetry/telemetry_worker.py

+                    queue.queue.put(telemetry_data)
+                    local_logger.info(f"Telemetry data queued: {telemetry_data}", False)
+                else:
+                    break  # no more messages right now


what would the logger show when it is missing telemetry data?

ellyokes253 · 2025-09-15T16:38:47Z

modules/command/command.py

+        data_queue: queue_proxy_wrapper.QueueProxyWrapper,
+        response_queue: queue_proxy_wrapper.QueueProxyWrapper,


while the logic you implement overall stays the same inputting the queues in the class implementation, the purpose of the worker is to use the logic in there

I'm not totally sure what to change here - I'm assuming you mean to move some logic into the worker, but I'm pretty sure that all of my logic is to fulfill the instructions left in the command.py file - am I missing something?

i'm trying to say that inputting and taking output from queues should happen within your worker. they way you have it right now works, but the whole point of the worker is to deal with the queues in there

modules/command/command.py

tests/integration/test_command.py

tests/integration/test_heartbeat_receiver.py

tests/integration/test_telemetry.py

ellyokes253 · 2025-09-17T00:05:25Z

modules/telemetry/telemetry.py

+            attitude = self.last_attitude
+            if position is not None and attitude is not None:
+                telemetry_data = TelemetryData(
+                    time_since_boot=int(


also your time_since_boot is weirdly off

lol I can't figure out why - are you allowed to tell me what I'm supposed to expect?

modules/command/command.py

ellyokes253 · 2025-09-17T00:11:08Z

modules/command/command.py

+            yaw_change %= 360
+            if yaw_change > 180:
+                yaw_change -= 360
+            queued.append(f"CHANGING_YAW: {yaw_change}")


your yaw_change calculations are also wrong

ellyokes253 · 2025-09-17T00:13:19Z

modules/command/command.py

+                yaw_change -= 360
+            queued.append(f"CHANGING_YAW: {yaw_change}")
+
+        if abs(telemetry_data.z - self.target.z) > 0.5 or abs(telemetry_data.yaw - angle) > (


also the altitude change and the yaw change should not be the same mavlink message

the drone seems to only work if the altitude and yaw change messages are sent simultaneously when they are both triggered - the drone expects 26 messages, but 28 are sent if the altitude and yaw changes are separated. Am I missing something?

actually jk forget this i read it wrong

lol probably because i just fixed it (i think) - should be ready for review tho

ellyokes253 · 2025-09-17T00:20:06Z

bootcamp_main.py

+        target=heartbeat_sender_worker.heartbeat_sender_worker,
+        work_arguments=(connection, HEARTBEAT_PERIOD),
+        input_queues=[],
+        output_queues=[heartbeat_queue],


heartbeat sender shouldn't have anything in the input or output queues (reference the worker schematic)

ellyokes253 · 2025-09-17T00:22:59Z

bootcamp_main.py

+            connection,
+            HEARTBEAT_PERIOD,
+        ),
+        input_queues=[heartbeat_queue],


this is also incorrect, i reccommend referencing the worker schematic photo to know where your queues should go

ellyokes253 · 2025-09-21T14:30:39Z

logs/2025-09-16_22-17-45/command_worker_11114.log

@@ -0,0 +1,58 @@
+22:17:46: [INFO] [/Users/derekgou/autonomy-bootcamp-2025-p2/modules/command/command_worker.py | command_worker | 54] Logger initialized
+22:17:46: [INFO] [/Users/derekgou/autonomy-bootcamp-2025-p2/modules/command/command.py | run | 91] Average velocity: [0.0, 0.0, 4.0]
+22:17:46: [INFO] [/Users/derekgou/autonomy-bootcamp-2025-p2/modules/command/command.py | run | 128] 63.43494882292201


you shouldn't be logging the yaw here

this still needs to be fixed

ellyokes253 · 2025-09-21T14:36:39Z

modules/command/command.py

+                    1,
+                    0,
+                    0,
+                    yaw_diff,


this needs to go to another parameter spot within self.connection.mav.command_long_send()

ellyokes253 · 2025-09-21T14:38:08Z

modules/command/command.py

-        self,
-        args,  # Put your own arguments here
-    ):
+    def run(self, data: telemetry.TelemetryData) -> None:


the return type isn't none if you return something

modules/telemetry/telemetry.py

ellyokes253 · 2025-09-21T14:47:17Z

bootcamp_main.py

+            HEARTBEAT_PERIOD,
+        ),
+        input_queues=[],
+        output_queues=[],


there should be something here

bootcamp_main.py

ellyokes253 · 2025-09-24T16:56:24Z

modules/command/command_worker.py

+        local_logger.error("Failed to create CommandWorker", True)
+        return
    # Main loop: do work.
+    while not controller.is_exit_requested():


it's good practice to include controller.check_pause() within the main look as well. this check if the workers are requested to pause (it blocks/sleeps the worker until unpause). the same applies to all other workers

ellyokes253 · 2025-09-24T16:58:08Z

modules/heartbeat/heartbeat_receiver_worker.py

+    controller: worker_controller.WorkerController,
+    queue: queue_proxy_wrapper.QueueProxyWrapper,


it's typically good practice to put the input/output queues above the controller - within WorkerProperties that the bootcamp_main.py uses, it follows this format

ellyokes253 · 2025-09-24T21:44:30Z

lgtm!

derekGou added 9 commits September 9, 2025 16:54

finished hopefully

ee3c04c

typing

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more problems :()

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forgot one grrr

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here goes nothing

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please work

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crashing out rn

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aaaa im so hungry

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fixes for feedback

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ellyokes253 reviewed Sep 15, 2025

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derekGou added 3 commits September 16, 2025 09:00

im so slepey

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formatting

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typing

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ellyokes253 reviewed Sep 17, 2025

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derekGou added 2 commits September 18, 2025 13:31

please work

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black

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ellyokes253 reviewed Sep 21, 2025

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bootcamp_main.py Outdated

HEARTBEAT_PERIOD,

),

input_queues=[],

output_queues=[],

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there should be something here

ellyokes253 reviewed Sep 21, 2025

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derekGou added 2 commits September 23, 2025 21:44

i hink rhis wirks

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it did not work

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ellyokes253 reviewed Sep 24, 2025

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this might work

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ellyokes253 closed this Sep 24, 2025

IshaanMittal07 added a commit to IshaanMittal07/DroneGroundStation that referenced this pull request Oct 18, 2025

Fixed errors outlined in Review UWARG#4

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IshaanMittal07 added a commit to IshaanMittal07/DroneGroundStation that referenced this pull request Oct 18, 2025

Done changes from Review UWARG#4

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		20:30:25: [INFO] [/Users/derekgou/autonomy-bootcamp-2025-p2/tests/integration/test_heartbeat_receiver.py \| main \| 111] Connected!
		20:30:26: [INFO] [/Users/derekgou/autonomy-bootcamp-2025-p2/tests/integration/test_heartbeat_receiver.py \| read_queue \| 69] Connected

		@@ -0,0 +1,2 @@
		20:22:16: [INFO] [/Users/derekgou/autonomy-bootcamp-2025-p2/modules/common/modules/logger/logger_main_setup.py \| setup_main_logger \| 62] main logger initialized

		data_queue: queue_proxy_wrapper.QueueProxyWrapper,
		response_queue: queue_proxy_wrapper.QueueProxyWrapper,

		controller: worker_controller.WorkerController,
		queue: queue_proxy_wrapper.QueueProxyWrapper,

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derekGou commented Sep 9, 2025

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ellyokes253 Sep 17, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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ellyokes253 commented Sep 24, 2025

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