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 2 commits 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>
The three modes are mutually exclusive, but separate ControlMode bools and per-mode Ctrl messages read as independent toggles. Encode the exclusivity structurally instead, following the Instruction.command pattern: - VisionTrackingState carries a oneof over per-mode parameter messages; no field set means no vision tracking mode is active. The per-mode enabled bools are gone (presence is enablement), and Spotlight/ ActiveTrack states are empty extension points for future parameters. - ControlMode.vision_tracking replaces the three draft bools, so the telemetry also echoes the active orbit rate. - A single VisionTrackingCtrl replaces SpotlightCtrl/ActiveTrackCtrl/ OrbitCtrl: mode switches are atomic, disable is an empty state, and the '0 keeps the current rate' convention is dropped — OrbitState.rate is mandatory and non-zero. 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:
VisionTrackingStatecarries aoneofover per-mode parameter messages (SpotlightState/ActiveTrackState/OrbitState), following theInstruction.commandpattern. The modes are mutually exclusive, and theoneofencodes that structurally: at most one mode is set, and no field set means no vision tracking mode is active. Presence is enablement — there are noenabledbools. The Spotlight/ActiveTrack states are empty extension points for future parameters;OrbitStatecarries a mandatory non-zero orbit angular rate (deg/s, positive = clockwise from above).ControlMode.vision_tracking(field 8) exposes the active mode in telemetry — including the active orbit rate.VisionTrackingCtrlsets the mode: switching modes is atomic, an empty state disables, and the drone rejects anOrbitStatewith a zero 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: BluEye-Robotics/p2_drone#1023, supersedes BluEye-Robotics/p2_drone#940). All additions are backward compatible.
Verified with protolint and protoc. An earlier three-bool / three-Ctrl draft of the mode messages was deployed and exercised on the bench Orin; the oneof reshape changes only the wire encoding, not the drone behaviour behind it.
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