Complete autonomous landing module #262
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Completed the autonomous landing module. Tackled the following problems in the ticket:
Multiple detections? Which one do we choose to go to?
Implemented a flexible detection selection system with four different approaches:
• NEAREST_TO_CENTER (default): Chooses the detection closest to the image center
• LARGEST_AREA: Selects the detection with the biggest bounding box
• HIGHEST_CONFIDENCE: Picks the detection with the highest confidence score
• FIRST_DETECTION: Uses the first detection in the list
How/where does this get integrated in the worker pipeline?
The auto_landing_worker() function follows the worker pattern:
• Input: Receives merged_odometry_detections from an input queue
• Output: Sends landing_info to an output queue
• Commands: Receives control commands for state changes from a command queue
How do we turn it on/off? How do we signal this?
Uses AutoLandingCommand and AutoLandingController. The command wrapper carries two string commands ("enable"/"disable") and is sent through the command queue to be processed. The controller layer has enable() and disable() methods, and is_enabled() for status queries. The process_detections() only processes when enabled.
Let me know if anything needs changing.
Note: Some of the brightspot tests are failing so it doesn't pass the pytest check. I believe they were already failing beforehand.