Integrate XYZ coordinates with pathing and add test documentation

[xingyi1145]

This pull request introduces a two-phase integration testing protocol for the OAK-D vision-to-MAVLink tracking pipeline, along with a new simulation test and reusable velocity control logic. The main changes add a documented testing workflow, a simulation script for validating MAVLink velocity commands, and reusable functions for velocity calculation and command sending.

Integration Testing Protocol and Documentation:

• Added a new document (documentation/tests/unit/test_remote_integration.md) outlining the two-phase integration testing protocol, including SITL (Software-In-The-Loop) verification steps, prerequisites, execution instructions, and success criteria for validating the velocity controller and MAVLink command construction.

Simulation and Test Code:

• Added a new simulation script (tests/test_remote_integration.py) that connects to a virtual drone using MAVLink, simulates a sequence of target detections, and sends velocity commands based on the simulated target’s position. This script helps verify the velocity controller logic and MAVLink integration in a controlled environment.

Reusable Velocity Control Functions:

• Introduced calculate_velocity_commands and send_velocity_command functions in both main_2025.py and the test script, encapsulating the proportional control logic and MAVLink command sending for easier reuse and maintainability. [1] [2]

[Copilot]

Pull request overview

Adds a documented, manual SITL-based integration test workflow for validating MAVLink velocity control logic, and introduces helper functions intended to compute and send velocity commands.

Changes:

• Added a new SITL integration testing protocol document under documentation/tests/unit/.
• Added a new MAVLink/SITL simulation script (tests/test_remote_integration.py) that sends velocity commands based on a simulated target path.
• Added velocity calculation + MAVLink command helpers to main_2025.py for reuse.

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 4 comments.

File	Description
tests/test_remote_integration.py	Adds a manual SITL simulation script for sending MAVLink velocity commands.
main_2025.py	Introduces shared velocity-control helper functions intended for the main tracking pipeline.
documentation/tests/unit/test_remote_integration.md	Documents how to run the SITL-based integration validation.

Comments suppressed due to low confidence (2)

main_2025.py:55

• send_velocity_command references mavutil but main_2025.py does not import it anywhere, so this is a runtime NameError and a pylint undefined-variable. Add the appropriate pymavlink import (or move it inside the function) and add required type annotations for flake8-annotations.

def send_velocity_command(master, vx, vy, vz, yaw_rate):
    type_mask = 0b010111000111
    master.mav.set_position_target_local_ned_send(
        0,
        master.target_system,
        master.target_component,
        mavutil.mavlink.MAV_FRAME_BODY_NED,
        type_mask,

tests/test_remote_integration.py:17

• calculate_velocity_commands takes target_y_m but never uses it, which will raise pylint unused-argument. Use the parameter (e.g., for vertical/altitude control) or rename it to _target_y_m / remove it from the signature and update callers.

def calculate_velocity_commands(target_x_m, target_y_m, target_z_m):
    desired_z = 2.0
    desired_x = 0.0
    kp_z = 0.5
    kp_x = 0.5

    error_z = target_z_m - desired_z
    error_x = target_x_m - desired_x

    vx = max(-2.0, min(2.0, kp_z * error_z))
    vy = max(-2.0, min(2.0, kp_x * error_x))

    return vx, vy, 0.0, 0.0

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