Feature/flight structure

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+
+# PyCharm
+.idea/
+# Vim
+.vim/
+# Visual Studio Code
+.vscode/
+
+# Spreadsheets
+*.csv

.pre-commit-config.yaml

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+repos:
+-   repo: https://github.com/ambv/black
+    rev: 21.10b0
+    hooks:
+    -   id: black
+        language_version: python3.8
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.0.1  # Use the ref you want to point at
+    hooks:
+    -   id: trailing-whitespace
+    -   id: check-added-large-files
+    -   id: check-merge-conflict
+    -   id: check-case-conflict
+    -   id: end-of-file-fixer
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: check-toml
+    -   id: mixed-line-ending
+        args: ['--fix=lf']
+        description: Forces line endings to the UNIX LF character

LICENSE

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+MIT License
+
+Copyright (c) 2022 Missouri S&T Multirotor Robot Design Team
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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 # SUAS-2022
 Missouri S&T Multirotor Robot Design Team's code for the Association for Unmanned Vehicle Systems International's 2022 Student Unmanned Aerial Systems Competition (AUVSI SUAS 2022)
+
+# Setup
+```
+pip install pre-commit
+pre-commit install
+```
+    > `branch_name` should follow the convention `feature/{feature_name}`, or `hotfix/{fix_name}`

flight/Stationary Obstacle Avoidance/main.py

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+import obstacle_avoidance
+import plotter
+
+SAFETY_MARGIN = 10  # meters
+MAX_DISTANCE = 0  # meters
+
+waypoints = [
+    {"latitude": 37.94883876837826, "longitude": -91.78443677093598, "altitude": 100.0},
+    {
+        "latitude": 37.949016435151485,
+        "longitude": -91.78364283711778,
+        "altitude": 150.0,
+    },
+    {"latitude": 37.94957481364174, "longitude": -91.78369648129468, "altitude": 300.0},
+    {"latitude": 37.95004012580848, "longitude": -91.78468353414975, "altitude": 250.0},
+    {
+        "latitude": 37.949735558177984,
+        "longitude": -91.78542382379104,
+        "altitude": 150.0,
+    },
+    {
+        "latitude": 37.948790418686826,
+        "longitude": -91.78605823636349,
+        "altitude": 200.0,
+    },
+    {
+        "latitude": 37.948576497594445,
+        "longitude": -91.78460843230208,
+        "altitude": 150.0,
+    },
+]
+
+obstacles = [
+    {
+        "latitude": 37.94986244280119,
+        "longitude": -91.78386816205061,
+        "radius": 20,
+        "height": 400,
+    },
+    {
+        "latitude": 37.949388706571064,
+        "longitude": -91.78569200437985,
+        "radius": 30,
+        "height": 200,
+    },
+    {
+        "latitude": 37.94828884469052,
+        "longitude": -91.78546673913256,
+        "radius": 50,
+        "height": 150,
+    },
+]
+
+if __name__ == "__main__":
+    # Convert latlon data to UTM projection
+    waypoints = obstacle_avoidance.all_latlon_to_utm(waypoints)
+    obstacles = obstacle_avoidance.all_latlon_to_utm(obstacles)
+
+    # Plot data before processing
+    # plotter.plot_data(waypoints, obstacles, SAFETY_MARGIN)
+
+    # Find new safe path between all waypoints
+    waypoints = obstacle_avoidance.get_safe_route(
+        waypoints, obstacles, SAFETY_MARGIN, MAX_DISTANCE, debugging=False
+    )
+
+    # Plot data after processing
+    plotter.plot_data(waypoints, obstacles, SAFETY_MARGIN, flight_path_color="bo-")