A battery that actually drains, and a path sweep that ignores traffic - #8
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…res traffic
Two things the relay coordinator needed from the simulator.
**A discharging pack.** skysim never sent a battery block, so ArduPilot
synthesised voltage from instantaneous throttle: it sagged when the aircraft
climbed and recovered when it levelled off, and never fell over a flight. Any
endurance-driven decision above it was therefore reasoning about noise. There is
now a coulomb-counting model — 3300 mAh, 12.6 V full to 10.2 V empty, current
quadratic in throttle demand — and `POST /vehicles/{id}/battery/reset` to fit a
fresh pack, since the autopilot's own BATTERY_RESET only clears its counter and
leaves the simulated pack flat. Verified draining 99% to 70% over six minutes of
hover.
**Buildings only in `sweep_path`.** The sweep cast against every body, so another
aircraft read as an obstruction. That is not conservatism, it is a deadlock: a
relay hands over by launching a relief while the incumbent still holds over the
pad, and the incumbent would read as a permanent wall to the one waiting to
relieve it — which is exactly what happened, with the coordinator refusing every
launch for "a building at 0 m". Where traffic sits at this instant says nothing
about where it will be when the mission flies it; separation between vehicles is
a scheduling problem, solved by altitude offsets and the dock mutex. `raycast`
keeps seeing everything — rangefinders need that.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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1 participant
Two things the SkyHub relay coordinator needed from the simulator.
A discharging pack
skysim never sent a battery block, so ArduPilot synthesised voltage from instantaneous throttle: it sagged on a climb, recovered when the aircraft levelled off, and never fell over a flight. Any endurance-driven decision above it was reasoning about noise — and consumed-mAh failsafes could not fire at all.
There is now a coulomb-counting model in the vehicle step: 3300 mAh, 12.6 V full to 10.2 V empty, current quadratic in throttle demand (0.7 A idle, ~42 A hover).
VehicleTruthcarries it and the JSON protocol emits"battery":{"voltage":…,"current":…}when valid.POST /vehicles/{id}/battery/resetfits a fresh pack. Needed because the autopilot's ownBATTERY_RESETclears only its counter — without this the simulated pack stays flat and the vehicle is retired after one sortie.Verified draining 99% → 70% over six minutes of hover.
sweep_pathsees buildings, not trafficThe sweep cast against every body in the world, so another aircraft read as an obstruction. That is not conservatism, it is a deadlock: a relay hands over by launching a relief while the incumbent still holds over the pad, so the incumbent reads as a permanent wall to the drone waiting to relieve it. In practice the coordinator refused every launch with "route hits a building on leg 1 (0 m in)" — the building was a hovering drone.
Where traffic sits at this instant says nothing about where it will be when the mission flies it. Separation between vehicles is a scheduling problem, solved by altitude offsets and a dock mutex; the sweep answers the question only the world can answer.
raycastis unchanged and still sees everything, which is what rangefinders need.Tests
16/16 pass. New: golden assertions on the battery JSON block, and a sweep test that parks a vehicle squarely on the path and asserts the path is clear while a raycast along it still hits.
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