This is a kind of difficult subject. Right now, I'm only using
BestClimbRate even though  sometimes I should be using CruiseSpeed. The
reason is because BCR is a slower speed, and so if things go wrong less bad
stuff happens. So what does that map into for "VehicleSpeeds"? I don't know
I have a definitive answer for that right now.

My intuition is that in a first step we can define "slow speed", "cruise
speed", and "high speed" as the three speed categories, and then when we
get to a point where the path managers and followers have a high enough
granularity to require it we can split the UAVO into type-specific ones.

On Sat, Jun 29, 2013 at 3:40 AM, Stacey Sheldon <notifications@github.com>wrote:

> In flight/Modules/PathManager/pathmanager.c:
>
> > +
> > +			//TODO: Declare an alarm
> > +			AlarmsSet(SYSTEMALARMS_ALARM_PATHMANAGER, SYSTEMALARMS_ALARM_CRITICAL);
> > +			//TODO: Start circling
> > +		}
> > +	}
> > +}
> > +
> > +
> > +
> > +static void settingsUpdated(UAVObjEvent * ev) {
> > +	if (ev == NULL || ev->obj == PathManagerSettingsHandle()) {
> > +		PathManagerSettingsGet(&pathManagerSettings);
> > +	}
> > +	if (ev == NULL || ev->obj == FixedWingAirspeedsHandle()) {
> > +		FixedWingAirspeedsGet(&fixedWingAirspeeds);
>
> So if this was VehicleSpeeds, which field would the code be looking at?
> Would it be using BestClimbRate throughout the path manager even when it
> was driving a rover? Or would the code in this module need to know about
> vehicle type so it could choose one of many possible fields from the new
> VehicleSpeeds UAVO?
>
> —
> Reply to this email directly or view it on GitHub<https://github.com/TauLabs/TauLabs/pull/479/files#r4951078>
> .
>