From 0e6c34dc4096d20106809bf1c6c390fbe6d639d3 Mon Sep 17 00:00:00 2001 From: Eric Pedley Date: Tue, 11 Jun 2024 15:11:02 -0700 Subject: [PATCH] print out contributing measurements to best match --- uavf_2024/gnc/dropzone_planner.py | 1 + 1 file changed, 1 insertion(+) diff --git a/uavf_2024/gnc/dropzone_planner.py b/uavf_2024/gnc/dropzone_planner.py index c79d0f2..de17c4c 100644 --- a/uavf_2024/gnc/dropzone_planner.py +++ b/uavf_2024/gnc/dropzone_planner.py @@ -157,6 +157,7 @@ def conduct_air_drop(self): best_match = self.target_tracker.estimate_positions(self.commander.payloads)[self.current_payload_index] best_match_x, best_match_y = best_match.position[0], best_match.position[1] self.commander.log(f"best_match_x: {best_match_x}, best_match_y: {best_match_y}") + self.commander.log(f"Contributing measurements: {best_match.contributing_measurement_ids()}") # Generate path of waypoints to the target to take images at next_wps = self.generate_wps_to_target(best_match_x, best_match_y, self.commander.cur_pose.pose.position.x, self.commander.cur_pose.pose.position.y)