Add vision tracking control modes and enrich SotState with Kalman estimates - #287
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Add vision tracking control modes and enrich SotState with Kalman estimates#287jp-pino wants to merge 1 commit into
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…imates Add spotlight, active_track, and orbit to ControlMode, with matching SpotlightState/ActiveTrackState/OrbitState messages and Ctrl wrappers. OrbitState carries the commanded orbit angular rate (deg/s). Extend SotState with the tracker confidence and the Kalman velocity estimates (vx, vy, vs, vr) so vision-based control modes can use rate feedforward, and so recorded dives capture the full tracking state. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Protocol support for the vision-based control modes (Spotlight / ActiveTrack / Orbit) driven by the single-object tracker:
ControlModegainsspotlight(8),active_track(9), andorbit(10).SpotlightState,ActiveTrackState, andOrbitStatemessages withSpotlightCtrl/ActiveTrackCtrl/OrbitCtrlwrappers.OrbitStatecarries the commanded orbit angular rate (deg/s; 0 keeps the current rate).SotStategainsconfidence(5) and the Kalman velocity estimatesvx/vy/vs/vr(6–9), so the control loop gets rate feedforward and recorded dives capture the full tracking state.Part of the OSTrack vision tracking integration (drone-side PR in p2_drone supersedes BluEye-Robotics/p2_drone#940 — links to follow there). All additions are backward compatible.
Verified with protolint and protoc; deployed and exercised on the bench Orin.
🤖 Generated with Claude Code