A new maneuver

[Kristian Klausen]

Hi,

I am considering creating a new maneuver for a very specific problem involving landing. I would like to be able to specify two points, and use those in my controller.

Before diving into the Neptus-part of this myselves, could someone give me a brief rundown of the additions I need to do in Neptus to support this? In dune, afaik, these steps would suffice:

 - Define the maneuver IMC message
 - Register the maneuver in the multiplexer, or a seperate task that binds to this maneuver.

Regards,
Kristian

[José Pinto]

Dear Kristian,

In Neptus, a Maneuver is a class file deriving from (subclass of) pt.lsts.neptus.mp.Maneuver. This class should implement the interfaces IMCSerialization (serialization as IMC message) and optionally LocatedManeuver (world location attribute).

On top of these interfaces, your class must be able to store and load its parameters from XML. Most of the times it is much simpler to extend some maneuver that already exists (like GotoManeuver).

Afterwards, you should include the XML configuration with the default values to the vehicle's configuration file that will have this maneuver.

A good reference may be looking at a commit that basically adds a new maneuver to Neptus: 

https://github.com/LSTS/neptus/commit/eb68083ffef3ac401986839ae9075f5d60da0d16

Best regards,

José

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