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Report success from moveOnPath when the drone reaches the end of the path - #167
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…path moveOnPath, behind takeoff, moveToPosition and moveToZ, returned false for moves that finished: its loop also ends when the drone stops within getDistanceAccuracy() of the end of the path, where moveToPathPosition stops commanding it, but only an exact arrival marked the task complete. It now succeeds when the drone ends within twice the distance accuracy of the end of the path (allowing for the drone still settling), and still fails on a timeout or a drone stuck short of its goal. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01JmWqXFCY6vDdpRe4VHoaQX
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moveOnPath, and with ittakeoff,moveToPositionandmoveToZ, returned false for moves that finished. Its loop also ends when the drone stops withingetDistanceAccuracy()of the last point, wheremoveToPathPositionstops commanding it, but only an exact arrival completed the waiter.It now also succeeds when the drone ends within twice the distance accuracy of the end of the path; timeouts and drones stuck short of the goal still fail.
Tested in HERCULES (a Cosys-AirSim fork) with UE 5.8.3: waited takeoffs and reachable moves over RPC return true, and a 40 m climb with a 2 s timeout returns false. Also built from this tree with UE 5.8.3 (Windows): in Blocks, reachable
moveToZandmoveToPositionRPCs return true and a 60 m climb with a 2 s timeout returns false.🤖 Generated with Claude Code