MPPI + fence-line loc + waypoint nav with fail skip

2026-07-03 00:17:08 +00:00
parent 5156a8d766
commit 50ff61a16b
14 changed files with 555 additions and 115 deletions
--- a/scripts/waypoints.json
+++ b/scripts/waypoints.json
@@ -0,0 +1,110 @@
+[
+  {
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+    "y": -1.656,
+    "yaw": 71,
+    "desc": "wp0"
+  },
+  {
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+    "y": -0.756,
+    "yaw": 166,
+    "desc": "wp1"
+  },
+  {
+    "x": 0.056,
+    "y": -0.45,
+    "yaw": 90,
+    "desc": "wp2"
+  },
+  {
+    "x": 0.031,
+    "y": 0.25,
+    "yaw": 64,
+    "desc": "wp3"
+  },
+  {
+    "x": 0.312,
+    "y": 0.694,
+    "yaw": 22,
+    "desc": "wp4"
+  },
+  {
+    "x": 1.475,
+    "y": 0.694,
+    "yaw": 14,
+    "desc": "wp5"
+  },
+  {
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+    "y": 1.469,
+    "yaw": 109,
+    "desc": "wp6"
+  },
+  {
+    "x": 1.387,
+    "y": 1.8,
+    "yaw": 163,
+    "desc": "wp7"
+  },
+  {
+    "x": 0.369,
+    "y": 1.988,
+    "yaw": 179,
+    "desc": "wp8"
+  },
+  {
+    "x": -0.381,
+    "y": 1.988,
+    "yaw": -180,
+    "desc": "wp9"
+  },
+  {
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+    "y": 1.919,
+    "yaw": -157,
+    "desc": "wp10"
+  },
+  {
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+    "y": 1.244,
+    "yaw": -90,
+    "desc": "wp11"
+  },
+  {
+    "x": -1.756,
+    "y": 0.794,
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+    "desc": "wp12"
+  },
+  {
+    "x": -0.844,
+    "y": 0.544,
+    "yaw": -7,
+    "desc": "wp13"
+  },
+  {
+    "x": -0.388,
+    "y": 0.388,
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+    "desc": "wp14"
+  },
+  {
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+    "y": -0.106,
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+    "desc": "wp15"
+  },
+  {
+    "x": -0.169,
+    "y": -0.506,
+    "yaw": -127,
+    "desc": "wp16"
+  },
+  {
+    "x": -1.956,
+    "y": -2.175,
+    "yaw": -90,
+    "desc": "wp17"
+  }
+]