[ { "id": "27129f80a96ce509", "type": "ros2-websocket-server", "url": "${ROS2_WEBSOCKET_URL}" }, { "id": "5788a4cce510d440", "type": "ui_base", "theme": { "name": "theme-light", "lightTheme": { "default": "#0094CE", "baseColor": "#0094CE", "baseFont": "-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif", "edited": true, "reset": false }, "darkTheme": { "default": "#097479", "baseColor": "#097479", "baseFont": "-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif", "edited": false }, "customTheme": { "name": "Untitled Theme 1", "default": "#4B7930", "baseColor": "#4B7930", "baseFont": "-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif" }, "themeState": { "base-color": { "default": "#0094CE", "value": "#0094CE", "edited": false }, "page-titlebar-backgroundColor": { "value": "#0094CE", "edited": false }, "page-backgroundColor": { "value": "#fafafa", "edited": false }, "page-sidebar-backgroundColor": { "value": "#ffffff", "edited": false }, "group-textColor": { "value": "#1bbfff", "edited": false }, "group-borderColor": { "value": "#ffffff", "edited": false }, "group-backgroundColor": { "value": "#ffffff", "edited": false }, "widget-textColor": { "value": "#111111", "edited": false }, "widget-backgroundColor": { "value": "#0094ce", "edited": false }, "widget-borderColor": { "value": "#ffffff", "edited": false }, "base-font": { "value": "-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif" } }, "angularTheme": { "primary": "indigo", "accents": "blue", "warn": "red", "background": "grey", "palette": "light" } }, "site": { "name": "Node-RED Dashboard", "hideToolbar": "false", "allowSwipe": "false", "lockMenu": "false", "allowTempTheme": "true", "dateFormat": "DD/MM/YYYY", "sizes": { "sx": 48, "sy": 48, "gx": 6, "gy": 6, "cx": 6, "cy": 6, "px": 0, "py": 0 } } }, { "id": "7d60b4a56db9b8f8", "type": "ui_tab", "name": "PX4 Telemetry", "icon": "dashboard", "order": 1, "disabled": true, "hidden": false }, { "id": "6a7e8942e68a5c2e", "type": "ui_tab", "name": "Compute Kit", "icon": "dashboard", "order": 4, "disabled": true, "hidden": false }, { "id": "tagnav_ui_tab", "type": "ui_tab", "name": "DEXI April Tag Navigation", "icon": "dashboard", "disabled": true, "hidden": false }, { "id": "c38375f8835ceadf", "type": "ui_group", "name": "Main", "tab": "7d60b4a56db9b8f8", "order": 1, "disp": true, "width": 6, "collapse": false, "className": "" }, { "id": "6cd34e23cb4df593", "type": "ui_group", "name": "Health", "tab": "7d60b4a56db9b8f8", "order": 2, "disp": true, "width": 6, "collapse": false, "className": "" }, { "id": "c6e2654e4bd7b809", "type": "ui_group", "name": "Main", "tab": "6a7e8942e68a5c2e", "order": 1, "disp": true, "width": 6, "collapse": false, "className": "" }, { "id": "tagnav_ui_cam", "type": "ui_group", "name": "Downward camera", "tab": "tagnav_ui_tab", "order": 1, "disp": true, "width": "12", "collapse": false, "className": "" }, { "id": "tagnav_ui_grp", "type": "ui_group", "name": "Mission", "tab": "tagnav_ui_tab", "order": 2, "disp": true, "width": "12", "collapse": false, "className": "" }, { "id": "start_here", "type": "tab", "label": "1 \u00b7 Start Here", "disabled": true, "info": "Telemetry from PX4 and the LED ring. Runs on the sim and on the aircraft.\n\nDashboard: PX4 Telemetry at /ui.", "env": [] }, { "id": "note_start_here_1", "type": "comment", "z": "start_here", "name": "Start here", "info": "Two groups: flight telemetry on the dashboard (/dexi/telemetry, a 2 Hz summary from the drone; subscribing to /fmu/out topics directly costs a full core through rosbridge), and the LED ring (color, effects). Both work on the sim and on the aircraft.", "x": 60, "y": 20, "wires": [] }, { "id": "grp_start_here_1", "type": "group", "z": "start_here", "name": "PX4 telemetry (sim and drone)", "style": { "label": true, "fill": "#bfdbfe", "fill-opacity": "0.15", "stroke": "#999999" }, "nodes": [ "20e24e9a9250368a", "e0ce675c6e15fafb", "48d2fb203d115b77", "20e24e9a9250prse", "starthere_tmpl_main", "starthere_tmpl_hlth" ], "x": 120, "y": 80, "w": 820, "h": 200 }, { "id": "20e24e9a9250368a", "type": "ros2-subscribe", "z": "start_here", "server": "27129f80a96ce509", "topicname": "/dexi/telemetry", "messagetype": "std_msgs/msg/String", "x": 230, "y": 150, "wires": [ [ "20e24e9a9250prse" ] ], "g": "grp_start_here_1" }, { "id": "20e24e9a9250prse", "type": "function", "z": "start_here", "g": "grp_start_here_1", "name": "parse telemetry", "func": "// /dexi/telemetry is a JSON string from the drone's telemetry node, 2 messages a second.\nmsg.payload = JSON.parse(msg.payload.data);\nreturn msg;", "outputs": 1, "timeout": 0, "noerr": 0, "initialize": "", "finalize": "", "libs": [], "x": 420, "y": 150, "wires": [ [ "48d2fb203d115b77" ] ] }, { "id": "e0ce675c6e15fafb", "type": "debug", "z": "start_here", "name": "print telemetry", "active": false, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 820, "y": 240, "wires": [], "g": "grp_start_here_1" }, { "id": "48d2fb203d115b77", "type": "delay", "z": "start_here", "name": "", "pauseType": "rate", "timeout": "5", "timeoutUnits": "seconds", "rate": "1", "nbRateUnits": "1", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": true, "allowrate": false, "outputs": 1, "x": 600, "y": 150, "wires": [ [ "starthere_tmpl_main", "starthere_tmpl_hlth", "e0ce675c6e15fafb" ] ], "g": "grp_start_here_1" }, { "id": "starthere_tmpl_main", "type": "ui_template", "z": "start_here", "g": "grp_start_here_1", "group": "c38375f8835ceadf", "name": "Main panel", "order": 1, "width": 0, "height": 0, "format": "\n\n\n\n\n\n\n\n
flight mode{{msg.payload.mode}}
armed{{msg.payload.armed ? 'ARMED' : 'disarmed'}}
on the ground{{msg.payload.landed ? 'yes' : 'flying'}}
battery{{msg.payload.battery_pct}} % \u00b7 {{msg.payload.voltage}} V
position (x, y, z){{msg.payload.x}}, {{msg.payload.y}}, {{msg.payload.z}} m
heading{{msg.payload.heading}}\u00b0
speed{{msg.payload.speed}} m/s
", "storeOutMessages": false, "fwdInMessages": false, "resendOnRefresh": true, "templateScope": "local", "className": "", "x": 800, "y": 120, "wires": [ [] ] }, { "id": "starthere_tmpl_hlth", "type": "ui_template", "z": "start_here", "g": "grp_start_here_1", "group": "6cd34e23cb4df593", "name": "Health panel", "order": 1, "width": 0, "height": 0, "format": "\n\n\n\n\n\n\n\n\n
position estimate{{msg.payload.pos_valid ? 'valid' : 'NOT valid'}} \u00b7 \u00b1{{msg.payload.eph}} m
rangefinder{{msg.payload.range_m}} m \u00b7 {{msg.payload.range_valid ? 'valid' : 'NOT valid'}}
optical flow{{msg.payload.flow_fused ? 'fused' : 'not fused'}}{{msg.payload.flow_rejected ? ' \u00b7 REJECTED' : ''}}
RC link{{msg.payload.rc_lost ? 'LOST' : 'ok'}}
pre-flight checks{{msg.payload.preflight_ok ? 'pass' : 'FAIL'}}
failsafe{{msg.payload.failsafe ? 'ACTIVE' : 'none'}}
low battery{{msg.payload.low_battery ? 'YES' : 'no'}}
companion CPU{{msg.payload.cpu_temp}} \u00b0C \u00b7 load {{msg.payload.cpu_load}}{{msg.payload.throttled ? ' \u00b7 THROTTLED' : ''}}
", "storeOutMessages": false, "fwdInMessages": false, "resendOnRefresh": true, "templateScope": "local", "className": "", "x": 800, "y": 180, "wires": [ [] ] }, { "id": "grp_start_here_2", "type": "group", "z": "start_here", "name": "LED ring (sim and drone)", "style": { "label": true, "fill": "#fde68a", "fill-opacity": "0.15", "stroke": "#999999" }, "nodes": [ "dc3e05c5e05fe586", "329048764cfff535", "b93cf972cb4fac2a", "2676b0a6ec1bc521", "878a64b7619b4c65", "23b179f206f63d65", "dc5cfe2f7275f0b9", "36da6b302e1cc73a", "8c98d11de37b7cf0", "193cc1b7828666b2", "39478a268e042548" ], "x": 20, "y": 300, "w": 800, "h": 510 }, { "id": "dc3e05c5e05fe586", "type": "inject", "z": "start_here", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 140, "y": 345, "wires": [ [ "dc5cfe2f7275f0b9" ] ], "g": "grp_start_here_2" }, { "id": "329048764cfff535", "type": "ros2-service-call", "z": "start_here", "server": "27129f80a96ce509", "x": 660, "y": 545, "wires": [ [] ], "g": "grp_start_here_2" }, { "id": "b93cf972cb4fac2a", "type": "inject", "z": "start_here", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 140, "y": 445, "wires": [ [ "2676b0a6ec1bc521" ] ], "g": "grp_start_here_2" }, { "id": "2676b0a6ec1bc521", "type": "led", "z": "start_here", "name": "Teal LED", "color": "teal", "x": 340, "y": 445, "wires": [ [ "329048764cfff535" ] ], "g": "grp_start_here_2" }, { "id": "878a64b7619b4c65", "type": "inject", "z": "start_here", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 140, "y": 545, "wires": [ [ "23b179f206f63d65" ] ], "g": "grp_start_here_2" }, { "id": "23b179f206f63d65", "type": "led", "z": "start_here", "name": "LED Off", "color": "black", "x": 340, "y": 545, "wires": [ [ "329048764cfff535" ] ], "g": "grp_start_here_2" }, { "id": "dc5cfe2f7275f0b9", "type": "led", "z": "start_here", "name": "Pink LED", "color": "pink", "x": 340, "y": 345, "wires": [ [ "329048764cfff535" ] ], "g": "grp_start_here_2" }, { "id": "36da6b302e1cc73a", "type": "led-effect", "z": "start_here", "name": "Rainbow Effect", "effect": "rainbow", "x": 360, "y": 645, "wires": [ [ "329048764cfff535" ] ], "g": "grp_start_here_2" }, { "id": "8c98d11de37b7cf0", "type": "led-effect", "z": "start_here", "name": "Galaxy Effect", "effect": "galaxy", "x": 350, "y": 745, "wires": [ [ "329048764cfff535" ] ], "g": "grp_start_here_2" }, { "id": "193cc1b7828666b2", "type": "inject", "z": "start_here", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 140, "y": 645, "wires": [ [ "36da6b302e1cc73a" ] ], "g": "grp_start_here_2" }, { "id": "39478a268e042548", "type": "inject", "z": "start_here", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 140, "y": 745, "wires": [ [ "8c98d11de37b7cf0" ] ], "g": "grp_start_here_2" }, { "id": "fly_manager", "type": "tab", "label": "2 \u00b7 Fly with the Offboard Manager", "disabled": true, "info": "Arm, take off, move and land through the on-board offboard manager (/dexi/offboard_manager). Uses the same commands as the DroneBlocks blocks. Runs on the sim and on the aircraft.", "env": [] }, { "id": "note_fly_manager_2", "type": "comment", "z": "fly_manager", "name": "Fly", "info": "Inject nodes send commands to the offboard manager: arm, offboard takeoff, moves, land. Works on the sim and on the aircraft; on the aircraft keep a hand on the RC.", "x": 60, "y": 20, "wires": [] }, { "id": "1c1de41bb485044a", "type": "ros2-publish", "z": "fly_manager", "server": "27129f80a96ce509", "topicname": "/dexi/offboard_manager", "messagetype": "", "stampheader": false, "x": 850, "y": 240, "wires": [ [] ] }, { "id": "dc4e893b18c42a9a", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 300, "y": 160, "wires": [ [ "28d8858874b2ed8c" ] ] }, { "id": "82d80e96b9655371", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 300, "y": 100, "wires": [ [ "87a2f2cf05c31f87" ] ] }, { "id": "87a2f2cf05c31f87", "type": "arm", "z": "fly_manager", "name": "", "x": 470, "y": 100, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "30912c788cfaadb3", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 300, "y": 340, "wires": [ [ "ffa7c5b61d8bd568" ] ] }, { "id": "ffa7c5b61d8bd568", "type": "land", "z": "fly_manager", "name": "", "x": 470, "y": 340, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "28d8858874b2ed8c", "type": "takeoff", "z": "fly_manager", "name": "", "altitude": "2", "x": 490, "y": 160, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "882cab4293f9e0c0", "type": "forward", "z": "fly_manager", "name": "", "distance": "1", "x": 1290, "y": 60, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "866d2678c8d00a8d", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 1100, "y": 60, "wires": [ [ "882cab4293f9e0c0" ] ] }, { "id": "3cdaa5bb28be592a", "type": "offboard", "z": "fly_manager", "action": "stop", "x": 530, "y": 280, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "5053bb6941fd0593", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 300, "y": 280, "wires": [ [ "3cdaa5bb28be592a" ] ] }, { "id": "cf1c03f44806b4bc", "type": "offboard", "z": "fly_manager", "action": "start", "x": 530, "y": 220, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "335e4963eba951b4", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 300, "y": 220, "wires": [ [ "cf1c03f44806b4bc" ] ] }, { "id": "85e5a558b3c3d3b3", "type": "backward", "z": "fly_manager", "name": "", "distance": 1, "x": 1300, "y": 120, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "c0bb30e20f02a00f", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 1100, "y": 120, "wires": [ [ "85e5a558b3c3d3b3" ] ] }, { "id": "071b471fc96293c3", "type": "right", "z": "fly_manager", "name": "", "distance": 1, "x": 1280, "y": 180, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "112a8f0e486c38e3", "type": "left", "z": "fly_manager", "name": "", "distance": 1, "x": 1280, "y": 240, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "062188e9ec7c2b4f", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 1100, "y": 180, "wires": [ [ "071b471fc96293c3" ] ] }, { "id": "4dbdb3dd00a3fe2d", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 1100, "y": 240, "wires": [ [ "112a8f0e486c38e3" ] ] }, { "id": "193c8e27fb0ff0f1", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 1100, "y": 300, "wires": [ [ "a00e840f868007b4" ] ] }, { "id": "4cb076ca91be6dde", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 1100, "y": 360, "wires": [ [ "436149194175c0e1" ] ] }, { "id": "a00e840f868007b4", "type": "up", "z": "fly_manager", "name": "", "distance": 1, "x": 1280, "y": 300, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "436149194175c0e1", "type": "down", "z": "fly_manager", "name": "", "distance": 1, "x": 1280, "y": 360, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "2dd0241a95457a3b", "type": "yaw_right", "z": "fly_manager", "name": "", "degrees": 90, "x": 1280, "y": 420, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "0ca95155b5909df5", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 1100, "y": 420, "wires": [ [ "2dd0241a95457a3b" ] ] }, { "id": "93d521f9dbdd5393", "type": "yaw_left", "z": "fly_manager", "name": "", "degrees": 90, "x": 1280, "y": 480, "wires": [ [ "1c1de41bb485044a" ] ] }, { "id": "414abc3c5802df7d", "type": "inject", "z": "fly_manager", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 1100, "y": 480, "wires": [ [ "93d521f9dbdd5393" ] ] }, { "id": "see_detect", "type": "tab", "label": "3 \u00b7 AprilTags and YOLO", "disabled": true, "info": "Detections driving the LED ring. AprilTags work on the sim and the aircraft; YOLO runs on the aircraft only.", "env": [] }, { "id": "note_see_detect_3", "type": "comment", "z": "see_detect", "name": "AprilTags and YOLO", "info": "AprilTag detections (sim and drone) and YOLO detections (drone only) each light the LED ring.", "x": 60, "y": 20, "wires": [] }, { "id": "grp_see_detect_3", "type": "group", "z": "see_detect", "name": "AprilTags (sim and drone)", "style": { "label": true, "fill": "#bbf7d0", "fill-opacity": "0.15", "stroke": "#999999" }, "nodes": [ "8959b55e6e6c8655", "1f03e92abd538e9c", "190cde7db99adc9b", "74ea221272d0d9e0", "974e2fc73e070d55", "082b66548ec84e5c", "a9206bf8899fb0f0" ], "x": 30, "y": 175, "w": 1110, "h": 230 }, { "id": "8959b55e6e6c8655", "type": "function", "z": "see_detect", "name": "get april tag id", "func": "if (msg.payload.detections.length > 0) {\n msg.payload = msg.payload.detections[0].id\n} else {\n msg.payload = \"None\"\n}\n\nreturn msg", "outputs": 1, "timeout": 0, "noerr": 0, "initialize": "", "finalize": "", "libs": [], "x": 360, "y": 280, "wires": [ [ "190cde7db99adc9b" ] ], "g": "grp_see_detect_3" }, { "id": "1f03e92abd538e9c", "type": "ros2-subscribe", "z": "see_detect", "server": "27129f80a96ce509", "topicname": "/apriltag_detections", "messagetype": "apriltag_msgs/msg/AprilTagDetectionArray", "x": 150, "y": 280, "wires": [ [ "8959b55e6e6c8655" ] ], "g": "grp_see_detect_3" }, { "id": "190cde7db99adc9b", "type": "switch", "z": "see_detect", "name": "set led color", "property": "payload", "propertyType": "msg", "rules": [ { "t": "eq", "v": "1", "vt": "num" }, { "t": "eq", "v": "2", "vt": "num" }, { "t": "eq", "v": "3", "vt": "num" } ], "checkall": "true", "repair": false, "outputs": 3, "x": 550, "y": 280, "wires": [ [ "a9206bf8899fb0f0" ], [ "74ea221272d0d9e0" ], [ "974e2fc73e070d55" ] ], "g": "grp_see_detect_3" }, { "id": "74ea221272d0d9e0", "type": "led", "z": "see_detect", "name": "Blue LED", "color": "blue", "x": 740, "y": 280, "wires": [ [ "082b66548ec84e5c" ] ], "g": "grp_see_detect_3" }, { "id": "974e2fc73e070d55", "type": "led", "z": "see_detect", "name": "Yellow LED", "color": "yellow", "x": 750, "y": 340, "wires": [ [ "082b66548ec84e5c" ] ], "g": "grp_see_detect_3" }, { "id": "082b66548ec84e5c", "type": "ros2-service-call", "z": "see_detect", "server": "27129f80a96ce509", "x": 980, "y": 280, "wires": [ [] ], "g": "grp_see_detect_3" }, { "id": "a9206bf8899fb0f0", "type": "led", "z": "see_detect", "name": "Red LED", "color": "red", "x": 740, "y": 220, "wires": [ [ "082b66548ec84e5c" ] ], "g": "grp_see_detect_3" }, { "id": "grp_see_detect_4", "type": "group", "z": "see_detect", "name": "YOLO (drone only)", "style": { "label": true, "fill": "#fecaca", "fill-opacity": "0.15", "stroke": "#999999" }, "nodes": [ "65b1b7513e2bcc35", "5f2a63e2191be928", "413cc6735c1b44b2", "864ed565c0238fcf", "d58ca6c79218e4af", "f3517bf771100bf2", "42b2e7ce027aeb19", "5e3a7b461cdb2ce7" ], "x": 0, "y": 455, "w": 1120, "h": 250 }, { "id": "65b1b7513e2bcc35", "type": "function", "z": "see_detect", "name": "get object", "func": "if (msg.payload.detections.length > 0) {\n msg.payload = msg.payload.detections[0].class_name\n} else {\n msg.payload = \"None\"\n}\n\nreturn msg", "outputs": 1, "timeout": 0, "noerr": 0, "initialize": "", "finalize": "", "libs": [], "x": 320, "y": 560, "wires": [ [ "413cc6735c1b44b2", "5e3a7b461cdb2ce7" ] ], "g": "grp_see_detect_4" }, { "id": "5f2a63e2191be928", "type": "ros2-subscribe", "z": "see_detect", "server": "27129f80a96ce509", "topicname": "/yolo_detections", "messagetype": "apriltag_msgs/msg/AprilTagDetectionArray", "x": 120, "y": 560, "wires": [ [ "65b1b7513e2bcc35" ] ], "g": "grp_see_detect_4" }, { "id": "413cc6735c1b44b2", "type": "switch", "z": "see_detect", "name": "set led color", "property": "payload", "propertyType": "msg", "rules": [ { "t": "eq", "v": "dog", "vt": "str" }, { "t": "eq", "v": "cat", "vt": "str" }, { "t": "eq", "v": "truck", "vt": "str" } ], "checkall": "true", "repair": false, "outputs": 3, "x": 530, "y": 560, "wires": [ [ "864ed565c0238fcf" ], [ "d58ca6c79218e4af" ], [ "f3517bf771100bf2" ] ], "g": "grp_see_detect_4" }, { "id": "864ed565c0238fcf", "type": "led", "z": "see_detect", "name": "Red LED", "color": "red", "x": 720, "y": 500, "wires": [ [ "42b2e7ce027aeb19" ] ], "g": "grp_see_detect_4" }, { "id": "d58ca6c79218e4af", "type": "led", "z": "see_detect", "name": "Blue LED", "color": "blue", "x": 720, "y": 560, "wires": [ [ "42b2e7ce027aeb19" ] ], "g": "grp_see_detect_4" }, { "id": "f3517bf771100bf2", "type": "led", "z": "see_detect", "name": "Yellow LED", "color": "yellow", "x": 730, "y": 620, "wires": [ [ "42b2e7ce027aeb19" ] ], "g": "grp_see_detect_4" }, { "id": "42b2e7ce027aeb19", "type": "ros2-service-call", "z": "see_detect", "server": "27129f80a96ce509", "x": 960, "y": 560, "wires": [ [] ], "g": "grp_see_detect_4" }, { "id": "5e3a7b461cdb2ce7", "type": "debug", "z": "see_detect", "name": "print class name", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 540, "y": 640, "wires": [], "g": "grp_see_detect_4" }, { "id": "tagnav_tab", "type": "tab", "label": "4 \u00b7 Tag Navigation", "disabled": true, "info": "Tag navigation, one node per step, like the AprilTag blocks in DroneBlocks.\n\nEvery row starts with its button on the left. Everything here works in the simulator and on an aircraft; on an aircraft the pilot keeps the radio and can take over at any time by leaving Offboard.\n\n'Forward' is relative to the drone's nose: start with the nose pointing at the next tag." }, { "id": "6e4a0164616edf26", "type": "group", "z": "tagnav_tab", "name": "Tag hop: tag 0 \u2192 tag 1, and back (sim and drone)", "style": { "label": true }, "nodes": [ "1b3c57ebf8d84c1c", "5e0f96fea49ba20c", "1d6f827f328115fb", "01cb00de5460afa6", "6fdb6cd4b38e6d50", "016a8f1e032d2da8", "fec40d6c2f58a58d", "af9b19dafa30d6d8", "2e3a7a88ec0f6c65", "a38af6c0250b4f73", "5b740dce2327d31a", "d59dad5559fdd7e1" ], "x": 40, "y": 55, "w": 1060.0, "h": 205, "info": "Start on the ground over tag 0, nose toward tag 1. TAG HOP takes off, centers on tag 0, flies forward until tag 1 and lands on it. HOP BACK does the reverse from tag 1. Alternate them for repeat testing." }, { "id": "94f8dcdd29911dfe", "type": "group", "z": "tagnav_tab", "name": "Corridor: tags 0 \u2192 4 (sim and drone)", "style": { "label": true }, "nodes": [ "65e02f822fcb2e54", "88bac1b2f984e7b2", "cd81e6883ce4becf", "643e231186bb03cc", "b6106add2a6a76c3", "8701a2ead21b8743", "7fd006c6dd2d1860", "2db5091066244cdf", "e52be66db7f24d36", "efdaa722d3b9eacd", "7e795e89a6067e2d", "8fedbb888c34936f", "1b691fbfe6b97cf0", "34da863c36a4167a", "2bf1532cf3050cff", "2e2d7bd5d6374c85", "dc2ba05ffd9b40c3", "9c326faf509da86e" ], "x": 40, "y": 315, "w": 1480.0, "h": 305, "info": "START takes off by itself. PILOT HAND-OFF waits for the pilot: take off by hand, hover over tag 0, flip the Offboard switch. Both join the same chain at 'center on tag 0'. Change the route by editing the tag numbers." }, { "id": "5e7abc3962b62956", "type": "group", "z": "tagnav_tab", "name": "Safety", "style": { "label": true }, "nodes": [ "56e5c1c1dd4bf9c8", "e4a052996e0bdf38", "c3c9095f92a4351d", "d4704e20220cbe18", "1cc054b48d3a3bd7" ], "x": 40, "y": 655, "w": 500.0, "h": 175, "info": "Any step that fails lands the aircraft where it is, but only while the mission still has it (Offboard): a step also fails when the pilot takes over, and landing then would take the aircraft from the pilot. LAND now always lands." }, { "id": "3c4e44ef53859aae", "type": "group", "z": "tagnav_tab", "name": "Dashboard: status, speak, camera", "style": { "label": true }, "nodes": [ "d58a400dc9068001", "2fd5fe512f9c6f9d", "3430367cdad7d4d9", "64a64eeb1541bab2", "aa3527873a73f8a1", "c48ad43380c6b820", "tagnav_ui_camera" ], "x": 40, "y": 855, "w": 660.0, "h": 175, "info": "Shows the last step and the downward camera on the DEXI April Tag Navigation page, and speaks each new tag the camera sees (the dashboard must be open, and clicked once)." }, { "id": "1b3c57ebf8d84c1c", "type": "inject", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 120.0, "y": 180, "wires": [ [ "5e0f96fea49ba20c" ] ], "name": "TAG HOP", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date" }, { "id": "5e0f96fea49ba20c", "type": "dexi-flight-takeoff", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 300.0, "y": 180, "wires": [ [ "1d6f827f328115fb" ] ], "server": "27129f80a96ce509", "name": "", "altitude": 1.5 }, { "id": "1d6f827f328115fb", "type": "dexi-tag-center", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 520.0, "y": 180, "wires": [ [ "01cb00de5460afa6" ] ], "server": "27129f80a96ce509", "name": "", "tag": 0, "timeout": 25, "hold": 1 }, { "id": "01cb00de5460afa6", "type": "dexi-tag-fly-until", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 760.0, "y": 180, "wires": [ [ "6fdb6cd4b38e6d50" ] ], "server": "27129f80a96ce509", "name": "", "direction": "forward", "speed": 0.25, "tag": 1, "timeout": 20 }, { "id": "6fdb6cd4b38e6d50", "type": "dexi-tag-land", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 970.0, "y": 180, "wires": [ [] ], "server": "27129f80a96ce509", "name": "", "tag": 1, "center": true, "onlyOffboard": false }, { "id": "016a8f1e032d2da8", "type": "inject", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 130.0, "y": 230, "wires": [ [ "fec40d6c2f58a58d" ] ], "name": "HOP BACK", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date" }, { "id": "fec40d6c2f58a58d", "type": "dexi-flight-takeoff", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 320.0, "y": 230, "wires": [ [ "af9b19dafa30d6d8" ] ], "server": "27129f80a96ce509", "name": "", "altitude": 1.5 }, { "id": "af9b19dafa30d6d8", "type": "dexi-tag-center", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 540.0, "y": 230, "wires": [ [ "2e3a7a88ec0f6c65" ] ], "server": "27129f80a96ce509", "name": "", "tag": 1, "timeout": 25, "hold": 1 }, { "id": "2e3a7a88ec0f6c65", "type": "dexi-tag-fly-until", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 790.0, "y": 230, "wires": [ [ "a38af6c0250b4f73" ] ], "server": "27129f80a96ce509", "name": "", "direction": "backward", "speed": 0.25, "tag": 0, "timeout": 20 }, { "id": "a38af6c0250b4f73", "type": "dexi-tag-land", "z": "tagnav_tab", "g": "6e4a0164616edf26", "x": 1010.0, "y": 230, "wires": [ [] ], "server": "27129f80a96ce509", "name": "", "tag": 0, "center": true, "onlyOffboard": false }, { "id": "65e02f822fcb2e54", "type": "inject", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 110.0, "y": 440, "wires": [ [ "88bac1b2f984e7b2" ] ], "name": "START", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date" }, { "id": "88bac1b2f984e7b2", "type": "dexi-flight-takeoff", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 280.0, "y": 440, "wires": [ [ "8701a2ead21b8743" ] ], "server": "27129f80a96ce509", "name": "", "altitude": 1.5 }, { "id": "cd81e6883ce4becf", "type": "inject", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 150.0, "y": 490, "wires": [ [ "b6106add2a6a76c3" ] ], "name": "PILOT HAND-OFF", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date" }, { "id": "643e231186bb03cc", "type": "ui_button", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 150.0, "y": 530, "wires": [ [ "b6106add2a6a76c3" ] ], "group": "tagnav_ui_grp", "order": 1, "width": 0, "height": 0, "passthru": false, "label": "PILOT HAND-OFF", "tooltip": "", "color": "", "bgcolor": "", "className": "", "icon": "", "payload": "", "payloadType": "str", "topic": "", "topicType": "str", "name": "" }, { "id": "b6106add2a6a76c3", "type": "dexi-tag-handoff", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 360.0, "y": 510, "wires": [ [ "8701a2ead21b8743" ] ], "server": "27129f80a96ce509", "name": "pilot hand-off", "timeout": 900 }, { "id": "8701a2ead21b8743", "type": "dexi-tag-center", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 500.0, "y": 440, "wires": [ [ "7fd006c6dd2d1860" ] ], "server": "27129f80a96ce509", "name": "", "tag": 0, "timeout": 25, "hold": 1 }, { "id": "7fd006c6dd2d1860", "type": "dexi-tag-fly-until", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 740.0, "y": 440, "wires": [ [ "2db5091066244cdf" ] ], "server": "27129f80a96ce509", "name": "", "direction": "forward", "speed": 0.25, "tag": 1, "timeout": 20 }, { "id": "2db5091066244cdf", "type": "dexi-tag-center", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 980.0, "y": 440, "wires": [ [ "e52be66db7f24d36" ] ], "server": "27129f80a96ce509", "name": "", "tag": 1, "timeout": 25, "hold": 1 }, { "id": "e52be66db7f24d36", "type": "dexi-tag-fly-until", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 1220.0, "y": 440, "wires": [ [ "efdaa722d3b9eacd" ] ], "server": "27129f80a96ce509", "name": "", "direction": "forward", "speed": 0.25, "tag": 2, "timeout": 20 }, { "id": "efdaa722d3b9eacd", "type": "link out", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 1375.0, "y": 440, "wires": [], "name": "to row 2", "mode": "link", "links": [ "7e795e89a6067e2d" ] }, { "id": "7e795e89a6067e2d", "type": "link in", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 345.0, "y": 590, "wires": [ [ "8fedbb888c34936f" ] ], "name": "from row 1", "links": [ "efdaa722d3b9eacd" ] }, { "id": "8fedbb888c34936f", "type": "dexi-tag-center", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 500.0, "y": 590, "wires": [ [ "1b691fbfe6b97cf0" ] ], "server": "27129f80a96ce509", "name": "", "tag": 2, "timeout": 25, "hold": 1 }, { "id": "1b691fbfe6b97cf0", "type": "dexi-tag-fly-until", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 740.0, "y": 590, "wires": [ [ "34da863c36a4167a" ] ], "server": "27129f80a96ce509", "name": "", "direction": "forward", "speed": 0.25, "tag": 3, "timeout": 20 }, { "id": "34da863c36a4167a", "type": "dexi-tag-center", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 980.0, "y": 590, "wires": [ [ "2bf1532cf3050cff" ] ], "server": "27129f80a96ce509", "name": "", "tag": 3, "timeout": 25, "hold": 1 }, { "id": "2bf1532cf3050cff", "type": "dexi-tag-fly-until", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 1220.0, "y": 590, "wires": [ [ "2e2d7bd5d6374c85" ] ], "server": "27129f80a96ce509", "name": "", "direction": "forward", "speed": 0.25, "tag": 4, "timeout": 20 }, { "id": "2e2d7bd5d6374c85", "type": "dexi-tag-land", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "x": 1430.0, "y": 590, "wires": [ [] ], "server": "27129f80a96ce509", "name": "", "tag": 4, "center": true, "onlyOffboard": false }, { "id": "56e5c1c1dd4bf9c8", "type": "catch", "z": "tagnav_tab", "g": "5e7abc3962b62956", "x": 140.0, "y": 700, "wires": [ [ "e4a052996e0bdf38" ] ], "name": "any step failed", "scope": [ "5e0f96fea49ba20c", "1d6f827f328115fb", "01cb00de5460afa6", "6fdb6cd4b38e6d50", "fec40d6c2f58a58d", "af9b19dafa30d6d8", "2e3a7a88ec0f6c65", "a38af6c0250b4f73", "88bac1b2f984e7b2", "b6106add2a6a76c3", "8701a2ead21b8743", "7fd006c6dd2d1860", "2db5091066244cdf", "e52be66db7f24d36", "8fedbb888c34936f", "1b691fbfe6b97cf0", "34da863c36a4167a", "2bf1532cf3050cff", "2e2d7bd5d6374c85" ], "uncaught": false }, { "id": "e4a052996e0bdf38", "type": "dexi-tag-land", "z": "tagnav_tab", "g": "5e7abc3962b62956", "x": 390.0, "y": 700, "wires": [ [] ], "server": "27129f80a96ce509", "name": "land here (if the mission has it)", "tag": 0, "center": false, "onlyOffboard": true }, { "id": "c3c9095f92a4351d", "type": "ui_button", "z": "tagnav_tab", "g": "5e7abc3962b62956", "x": 130.0, "y": 750, "wires": [ [ "1cc054b48d3a3bd7" ] ], "group": "tagnav_ui_grp", "order": 3, "width": 0, "height": 0, "passthru": false, "label": "LAND now", "tooltip": "", "color": "", "bgcolor": "red", "className": "", "icon": "", "payload": "", "payloadType": "str", "topic": "", "topicType": "str", "name": "" }, { "id": "d4704e20220cbe18", "type": "inject", "z": "tagnav_tab", "g": "5e7abc3962b62956", "x": 120.0, "y": 800, "wires": [ [ "1cc054b48d3a3bd7" ] ], "name": "LAND now", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date" }, { "id": "1cc054b48d3a3bd7", "type": "dexi-tag-land", "z": "tagnav_tab", "g": "5e7abc3962b62956", "x": 300.0, "y": 775, "wires": [ [] ], "server": "27129f80a96ce509", "name": "land now", "tag": 0, "center": false, "onlyOffboard": false }, { "id": "d58a400dc9068001", "type": "status", "z": "tagnav_tab", "g": "3c4e44ef53859aae", "x": 100.0, "y": 900, "wires": [ [ "2fd5fe512f9c6f9d" ] ], "name": "step status", "scope": [ "5e0f96fea49ba20c", "1d6f827f328115fb", "01cb00de5460afa6", "6fdb6cd4b38e6d50", "fec40d6c2f58a58d", "af9b19dafa30d6d8", "2e3a7a88ec0f6c65", "a38af6c0250b4f73", "88bac1b2f984e7b2", "b6106add2a6a76c3", "8701a2ead21b8743", "7fd006c6dd2d1860", "2db5091066244cdf", "e52be66db7f24d36", "8fedbb888c34936f", "1b691fbfe6b97cf0", "34da863c36a4167a", "2bf1532cf3050cff", "2e2d7bd5d6374c85", "e4a052996e0bdf38", "1cc054b48d3a3bd7" ] }, { "id": "2fd5fe512f9c6f9d", "type": "ui_text", "z": "tagnav_tab", "g": "3c4e44ef53859aae", "x": 260.0, "y": 900, "wires": [], "group": "tagnav_ui_grp", "order": 2, "width": 0, "height": 0, "name": "", "label": "last step:", "format": "{{msg.status.text}}", "layout": "row-spread", "className": "", "style": false, "font": "", "fontSize": 16, "color": "#000000" }, { "id": "3430367cdad7d4d9", "type": "dexi-tag-seen", "z": "tagnav_tab", "g": "3c4e44ef53859aae", "x": 100.0, "y": 950, "wires": [ [ "64a64eeb1541bab2", "c48ad43380c6b820" ] ], "server": "27129f80a96ce509", "name": "", "forget": 2 }, { "id": "64a64eeb1541bab2", "type": "function", "z": "tagnav_tab", "g": "3c4e44ef53859aae", "x": 290.0, "y": 950, "wires": [ [ "aa3527873a73f8a1" ] ], "name": "hovering over tag N", "func": "msg.payload = 'hovering over tag ' + msg.payload;\nreturn msg;", "outputs": 1, "timeout": 0, "noerr": 0, "initialize": "", "finalize": "", "libs": [] }, { "id": "aa3527873a73f8a1", "type": "ui_audio", "z": "tagnav_tab", "g": "3c4e44ef53859aae", "x": 470.0, "y": 950, "wires": [], "name": "speak", "group": "tagnav_ui_grp", "voice": "", "always": true }, { "id": "c48ad43380c6b820", "type": "ui_text", "z": "tagnav_tab", "g": "3c4e44ef53859aae", "x": 500.0, "y": 1000, "wires": [], "group": "tagnav_ui_grp", "order": 4, "width": 0, "height": 0, "name": "", "label": "last tag seen:", "format": "{{msg.payload}}", "layout": "row-spread", "className": "", "style": false, "font": "", "fontSize": 16, "color": "#000000" }, { "id": "tagnav_ui_camera", "type": "ui_template", "z": "tagnav_tab", "group": "tagnav_ui_cam", "name": "camera", "order": 1, "width": "12", "height": "9", "format": "
\"\"\n
connecting\u2026
\n", "storeOutMessages": false, "fwdInMessages": false, "resendOnRefresh": true, "templateScope": "local", "className": "", "x": 620.0, "y": 950, "wires": [ [] ], "g": "3c4e44ef53859aae" }, { "id": "avr26ex_tab", "type": "tab", "label": "5 \u00b7 AVR 2026", "disabled": true, "info": "The drone runs a YOLO model trained on the AVR 2026 field artwork and\npublishes what it sees on `/yolo_detections`. Turn those detections into the\nright LED color.\n\nThe subscribe and service-call nodes are wired. `gasoline` is done as an\nexample. The other nine are yours.\n\n1. Point the camera at a printed card and watch the `raw detections` debug\n node to see the data.\n2. Read the `pick a class` function node. It works but it is basic.\n3. Add rules to the `class -> color` switch node." }, { "id": "avr26ex_sub", "type": "ros2-subscribe", "z": "avr26ex_tab", "name": "/yolo_detections", "server": "27129f80a96ce509", "topicname": "/yolo_detections", "x": 180, "y": 240, "wires": [ [ "avr26ex_dbg", "avr26ex_fn", "avr26ex_clear" ] ] }, { "id": "avr26ex_dbg", "type": "debug", "z": "avr26ex_tab", "name": "raw detections", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 430, "y": 140, "wires": [] }, { "id": "avr26ex_note_labels", "type": "comment", "z": "avr26ex_tab", "name": "Class labels", "info": "The ten strings the model can emit. Copy and paste them, a typo will not\nraise an error.\n\n```\nwheat_barrel\nwater_barrel\ngasoline\ntoxic_fluid\nwheat_barn\nwater_barn\nbridge_1line\nbridge_2line\nbridge_3line\nblackout\n```\n\nThe color for each one is in the AVR 2026 game manual.", "x": 210, "y": 60, "wires": [] }, { "id": "avr26ex_fn", "type": "function", "z": "avr26ex_tab", "name": "pick a class", "func": "// msg.payload.detections is an array. Each entry:\n// { class_name: \"gasoline\", confidence: 0.83, bbox: [x1, y1, x2, y2] }\n//\n// This takes the first detection and passes its label through.\n\nvar detections = msg.payload.detections || [];\n\nif (detections.length === 0) {\n return null;\n}\n\nmsg.payload = detections[0].class_name;\nreturn msg;\n\n// TODO\n//\n// 1. The array can hold more than one detection. Point the camera at two\n// cards and check the debug node. Decide which one to use.\n//\n// 2. Each detection has a confidence between 0 and 1. This uses all of them.\n// Aim at a blank wall and watch the ring.\n//\n// 3. Hold one card still and watch the ring. Decide how many frames in a row\n// you need before acting.\n//\n// 4. This sends a message on every frame, including when the class has not\n// changed.\n//\n// context.get() and context.set() let a function node remember values\n// between messages.\n", "outputs": 1, "timeout": 0, "noerr": 0, "initialize": "", "finalize": "", "libs": [], "x": 440, "y": 240, "wires": [ [ "avr26ex_switch" ] ] }, { "id": "avr26ex_switch", "type": "switch", "z": "avr26ex_tab", "name": "class -> color", "property": "payload", "propertyType": "msg", "rules": [ { "t": "eq", "v": "gasoline", "vt": "str" } ], "checkall": "true", "repair": false, "outputs": 1, "x": 660, "y": 240, "wires": [ [ "avr26ex_led_red" ] ] }, { "id": "avr26ex_note_switch", "type": "comment", "z": "avr26ex_tab", "name": "Add the other classes", "info": "`gasoline` goes out of output 1 to a red `led` node.\n\nAdd a rule per class, set the switch to that many outputs, and wire each one\nto an `led` node with the right color. Check the manual for how many colors\nyou need.", "x": 690, "y": 180, "wires": [] }, { "id": "avr26ex_led_red", "type": "led", "z": "avr26ex_tab", "name": "gasoline -> red", "color": "red", "x": 900, "y": 240, "wires": [ [ "avr26ex_call" ] ] }, { "id": "avr26ex_call", "type": "ros2-service-call", "z": "avr26ex_tab", "name": "set LED ring", "server": "27129f80a96ce509", "x": 1120, "y": 240, "wires": [ [] ] }, { "id": "avr26ex_note_done", "type": "comment", "z": "avr26ex_tab", "name": "Already wired", "info": "`led` turns a color name into a service request and `ros2-service-call`\nsends it. Every `led` node wires into this same service call node.\n\nColors: red green blue yellow purple cyan white orange teal magenta gold\npink aqua jade amber old_lace black. black turns the ring off.", "x": 1130, "y": 180, "wires": [] }, { "id": "avr26ex_cmt_clear", "type": "comment", "z": "avr26ex_tab", "name": "Turning the ring off when detection stops", "info": "The detector publishes only when it sees something, so nothing arrives on\nan empty frame and the ring would hold its last color indefinitely.\n\nEvery detection restarts the timer below. When 5 seconds pass with no\ndetection the timer fires and the ring goes off.\n\nThe ring is shared with the flight mode indicator, which sets a color only\nwhen the mode changes. After this clears the ring, the flight mode color\nreturns on the next mode change.", "x": 420, "y": 300, "wires": [] }, { "id": "avr26ex_clear", "type": "trigger", "z": "avr26ex_tab", "name": "no detection for 5s", "op1": "", "op1type": "nul", "op2": "clear", "op2type": "str", "duration": "5", "extend": true, "overrideDelay": false, "units": "s", "reset": "", "bytopic": "all", "topic": "topic", "outputs": 1, "x": 420, "y": 340, "wires": [ [ "avr26ex_led_off" ] ] }, { "id": "avr26ex_led_off", "type": "led", "z": "avr26ex_tab", "name": "nothing seen -> off", "color": "black", "x": 900, "y": 340, "wires": [ [ "avr26ex_call" ] ] }, { "id": "compute_kit", "type": "tab", "label": "6 \u00b7 Compute Kit (drone only)", "disabled": true, "info": "Servo, GPIO and the open-collector laser pulse on the DEXI Compute Kit. Hardware only: enable this tab on the aircraft.", "env": [] }, { "id": "note_compute_kit_4", "type": "comment", "z": "compute_kit", "name": "Compute Kit", "info": "Hardware only. Enable this tab on the aircraft (double-click the tab and turn on Enabled).", "x": 60, "y": 20, "wires": [] }, { "id": "grp_compute_kit_5", "type": "group", "z": "compute_kit", "name": "Servo", "style": { "label": true, "fill": "#e9d5ff", "fill-opacity": "0.15", "stroke": "#999999" }, "nodes": [ "9c4db8541a85f472", "587a4e5953b42928", "24ceaa76f5bab1b7", "70964a0e08a70969", "d0a830d2a97d63fa", "0273ae2d0a88cf4a", "5b2bdcec3ceb2183", "e3bbbded576d22b0" ], "x": 40, "y": 55, "w": 800, "h": 310 }, { "id": "9c4db8541a85f472", "type": "servo", "z": "compute_kit", "name": "servo 0 (0 degrees)", "servoId": "0", "angle": "0", "x": 350, "y": 180, "wires": [ [ "587a4e5953b42928" ] ], "g": "grp_compute_kit_5" }, { "id": "587a4e5953b42928", "type": "ros2-service-call", "z": "compute_kit", "server": "27129f80a96ce509", "x": 680, "y": 240, "wires": [ [] ], "g": "grp_compute_kit_5" }, { "id": "24ceaa76f5bab1b7", "type": "ui_button", "z": "compute_kit", "name": "", "group": "c6e2654e4bd7b809", "order": 1, "width": 0, "height": 0, "passthru": false, "label": "Servo 0 Open", "tooltip": "", "color": "", "bgcolor": "", "className": "", "icon": "", "payload": "", "payloadType": "str", "topic": "topic", "topicType": "msg", "x": 160, "y": 180, "wires": [ [ "9c4db8541a85f472" ] ], "g": "grp_compute_kit_5" }, { "id": "70964a0e08a70969", "type": "servo", "z": "compute_kit", "name": "servo 0 (180 degrees)", "servoId": "0", "angle": "180", "x": 360, "y": 240, "wires": [ [ "587a4e5953b42928" ] ], "g": "grp_compute_kit_5" }, { "id": "d0a830d2a97d63fa", "type": "ui_button", "z": "compute_kit", "name": "", "group": "c6e2654e4bd7b809", "order": 2, "width": 0, "height": 0, "passthru": false, "label": "Servo 0 Close", "tooltip": "", "color": "", "bgcolor": "", "className": "", "icon": "", "payload": "", "payloadType": "str", "topic": "topic", "topicType": "msg", "x": 160, "y": 240, "wires": [ [ "70964a0e08a70969" ] ], "g": "grp_compute_kit_5" }, { "id": "0273ae2d0a88cf4a", "type": "servo", "z": "compute_kit", "name": "servo 1", "servoId": "1", "angle": "90", "x": 320, "y": 300, "wires": [ [ "587a4e5953b42928" ] ], "g": "grp_compute_kit_5" }, { "id": "5b2bdcec3ceb2183", "type": "ui_slider", "z": "compute_kit", "name": "", "label": "Servo 1 Slider", "tooltip": "", "group": "c6e2654e4bd7b809", "order": 3, "width": 0, "height": 0, "passthru": true, "outs": "all", "topic": "topic", "topicType": "msg", "min": 0, "max": "180", "step": 1, "className": "", "x": 160, "y": 300, "wires": [ [ "0273ae2d0a88cf4a" ] ], "g": "grp_compute_kit_5" }, { "id": "e3bbbded576d22b0", "type": "comment", "z": "compute_kit", "name": "Attach two servos to compute kit ports 0 and 1", "info": "", "x": 260, "y": 100, "wires": [], "g": "grp_compute_kit_5" }, { "id": "grp_compute_kit_6", "type": "group", "z": "compute_kit", "name": "GPIO", "style": { "label": true, "fill": "#e9d5ff", "fill-opacity": "0.15", "stroke": "#999999" }, "nodes": [ "45b05d4941beab87", "d709c92d023be2d0", "90ae78b5e6f667f4", "69867ae2360210c3", "9be6d9f1768a2010", "144fb41742ad6623", "f61df10b0d51e8d6", "36364799fa60f92b", "c29980b232b731fc" ], "x": 0, "y": 415, "w": 680, "h": 350 }, { "id": "45b05d4941beab87", "type": "ui_spacer", "z": "compute_kit", "name": "spacer", "group": "c6e2654e4bd7b809", "order": 4, "width": 1, "height": 1, "g": "grp_compute_kit_6" }, { "id": "d709c92d023be2d0", "type": "write-gpio", "z": "compute_kit", "name": "Pin 0 high", "boardtype": "computekit", "pinnumber": "0", "pinstate": "true", "stampheader": false, "x": 320, "y": 580, "wires": [ [ "69867ae2360210c3" ] ], "g": "grp_compute_kit_6" }, { "id": "90ae78b5e6f667f4", "type": "inject", "z": "compute_kit", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 120, "y": 580, "wires": [ [ "d709c92d023be2d0" ] ], "g": "grp_compute_kit_6" }, { "id": "69867ae2360210c3", "type": "ros2-service-call", "z": "compute_kit", "server": "27129f80a96ce509", "x": 520, "y": 600, "wires": [ [] ], "g": "grp_compute_kit_6" }, { "id": "9be6d9f1768a2010", "type": "write-gpio", "z": "compute_kit", "name": "Pin 0 low", "boardtype": "computekit", "pinnumber": "0", "pinstate": "false", "stampheader": false, "x": 320, "y": 640, "wires": [ [ "69867ae2360210c3" ] ], "g": "grp_compute_kit_6" }, { "id": "144fb41742ad6623", "type": "inject", "z": "compute_kit", "name": "", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 120, "y": 640, "wires": [ [ "9be6d9f1768a2010" ] ], "g": "grp_compute_kit_6" }, { "id": "f61df10b0d51e8d6", "type": "ui_button", "z": "compute_kit", "name": "", "group": "c6e2654e4bd7b809", "order": 4, "width": 0, "height": 0, "passthru": false, "label": "GPIO 0 High", "tooltip": "", "color": "", "bgcolor": "", "className": "", "icon": "", "payload": "", "payloadType": "str", "topic": "topic", "topicType": "msg", "x": 130, "y": 520, "wires": [ [ "d709c92d023be2d0" ] ], "g": "grp_compute_kit_6" }, { "id": "36364799fa60f92b", "type": "ui_button", "z": "compute_kit", "name": "", "group": "c6e2654e4bd7b809", "order": 5, "width": 0, "height": 0, "passthru": false, "label": "GPIO 0 Low", "tooltip": "", "color": "", "bgcolor": "", "className": "", "icon": "", "payload": "", "payloadType": "str", "topic": "topic", "topicType": "msg", "x": 130, "y": 700, "wires": [ [ "9be6d9f1768a2010" ] ], "g": "grp_compute_kit_6" }, { "id": "c29980b232b731fc", "type": "comment", "z": "compute_kit", "name": "Attach LED circuit to GPIO port 0", "info": "", "x": 170, "y": 460, "wires": [], "g": "grp_compute_kit_6" }, { "id": "grp_compute_kit_7", "type": "group", "z": "compute_kit", "name": "Open collector (laser pulse)", "style": { "label": true, "fill": "#e9d5ff", "fill-opacity": "0.15", "stroke": "#999999" }, "nodes": [ "3e8c68b2c73ac60c", "88ba407c025fb4ec", "1d2bbddafb31dbc5", "bbe56520b9ed6ec8", "6d54454c7d0bd609", "37899b58d7c98705", "4e5e0aa1f410873f", "e9a77ec95437c2a1", "ef4a4581ceb96f02" ], "x": 80, "y": 815, "w": 650, "h": 390 }, { "id": "3e8c68b2c73ac60c", "type": "write-gpio", "z": "compute_kit", "name": "Laser On", "boardtype": "computekit", "pinnumber": "15", "pinstate": "true", "stampheader": false, "x": 200, "y": 1040, "wires": [ [ "1d2bbddafb31dbc5" ] ], "g": "grp_compute_kit_7" }, { "id": "88ba407c025fb4ec", "type": "inject", "z": "compute_kit", "name": "Start Laser Loop", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 200, "y": 960, "wires": [ [ "3e8c68b2c73ac60c" ] ], "g": "grp_compute_kit_7" }, { "id": "1d2bbddafb31dbc5", "type": "ros2-service-call", "z": "compute_kit", "server": "27129f80a96ce509", "x": 380, "y": 1040, "wires": [ [ "bbe56520b9ed6ec8" ] ], "g": "grp_compute_kit_7" }, { "id": "bbe56520b9ed6ec8", "type": "delay", "z": "compute_kit", "name": "", "pauseType": "delay", "timeout": "250", "timeoutUnits": "milliseconds", "rate": "1", "nbRateUnits": "1", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": false, "allowrate": false, "outputs": 1, "x": 570, "y": 1040, "wires": [ [ "6d54454c7d0bd609" ] ], "g": "grp_compute_kit_7" }, { "id": "6d54454c7d0bd609", "type": "write-gpio", "z": "compute_kit", "name": "Laser Off", "boardtype": "computekit", "pinnumber": "15", "pinstate": "false", "stampheader": false, "x": 200, "y": 1140, "wires": [ [ "37899b58d7c98705" ] ], "g": "grp_compute_kit_7" }, { "id": "37899b58d7c98705", "type": "ros2-service-call", "z": "compute_kit", "server": "27129f80a96ce509", "x": 380, "y": 1140, "wires": [ [ "4e5e0aa1f410873f" ] ], "g": "grp_compute_kit_7" }, { "id": "4e5e0aa1f410873f", "type": "delay", "z": "compute_kit", "name": "", "pauseType": "delay", "timeout": "250", "timeoutUnits": "milliseconds", "rate": "1", "nbRateUnits": "1", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": false, "allowrate": false, "outputs": 1, "x": 570, "y": 1140, "wires": [ [ "3e8c68b2c73ac60c" ] ], "g": "grp_compute_kit_7" }, { "id": "e9a77ec95437c2a1", "type": "comment", "z": "compute_kit", "name": "This assumes a KY-008 laser wired to the compute kit pin 15", "info": "", "x": 320, "y": 860, "wires": [], "g": "grp_compute_kit_7" }, { "id": "ef4a4581ceb96f02", "type": "comment", "z": "compute_kit", "name": "KY-008 signal pin to 5V on compute kit, KY-008 negative pin to OC on compute kit", "info": "", "x": 390, "y": 900, "wires": [], "g": "grp_compute_kit_7" }, { "id": "5b740dce2327d31a", "type": "comment", "z": "tagnav_tab", "g": "6e4a0164616edf26", "name": "Shortest mission: 2 tags. Starts on the ground and takes off by itself.", "info": "", "x": 300.0, "y": 100, "wires": [] }, { "id": "d59dad5559fdd7e1", "type": "comment", "z": "tagnav_tab", "g": "6e4a0164616edf26", "name": "Use it to learn the steps and for repeat testing: TAG HOP, then HOP BACK, then TAG HOP...", "info": "", "x": 380.0, "y": 130, "wires": [] }, { "id": "dc2ba05ffd9b40c3", "type": "comment", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "name": "Full route: 5 tags in a row. Two ways to start, both join at 'center on tag 0':", "info": "", "x": 320.0, "y": 360, "wires": [] }, { "id": "9c326faf509da86e", "type": "comment", "z": "tagnav_tab", "g": "94f8dcdd29911dfe", "name": "START takes off by itself. PILOT HAND-OFF: the pilot takes off by hand, hovers over tag 0 and flips the Offboard switch.", "info": "", "x": 460.0, "y": 390, "wires": [] } ]