Added configuration option for station keeping timeout

src/autonomous.py

@@ -146,8 +146,8 @@ def station_keeping(self):
 
         logging.debug("Station keeping elapsed time: %s" % time_elapsed)
 
-        # If the correct amount of time has elapsed, switch targets
-        if time_elapsed > 30:
+        # If the correct amount of time has elapsed (converting minutes to seconds), switch targets
+        if time_elapsed > (values['station_keeping_timeout'] * 60):
             for i in range(len(target_locations)):
                     target_locations[i] = Location(0, 0)
             logging.warn("Switched targets!")

src/config.ini

@@ -1,11 +1,13 @@
 [DEFAULT]
 debug: True
-# when changing the port name, make sure to also change the port in the client
+# When changing the port name, make sure to also change the port in the client
 port: 80
 transmission_delay: 1
 eval_delay: 1
-# possible event configurations: default, station_keeping
+# Possible event configurations: default, station_keeping
 event: default
+# Timeout delay for the station keeping event
+station_keeping_timeout: 5
 
 [LOGIC]
 point_proximity_radius: 5

src/modules/utils.py

@@ -95,6 +95,8 @@ def setup_config(values):
         values['max_rudder_angle'] = float(config.get('LOGIC', 'max_rudder_angle'))
         values['max_turn_rate_angle'] = float(config.get('LOGIC', 'max_turn_rate_angle'))
 
+        values['station_keeping_timeout'] = float(config.get('DEFAULT', 'station_keeping_timeout'))
+
         modules.calc.point_proximity_radius = float(config.get('LOGIC', 'point_proximity_radius'))
 
         print('Configuration file successfully loaded.')