From 04d36a3357651bf600377f218c0d0d36f400d043 Mon Sep 17 00:00:00 2001
From: Aaryan Sharma <aaryan1310@gmail.com>
Date: Thu, 12 Feb 2026 01:37:37 +0000
Subject: [PATCH 1/2] take pics if in search zone

---
 include/ticks/fly_waypoints.hpp |  1 +
 protos                          |  2 +-
 src/ticks/fly_waypoints.cpp     | 36 +++++++++++++++++++++++++++++++++
 3 files changed, 38 insertions(+), 1 deletion(-)

diff --git a/include/ticks/fly_waypoints.hpp b/include/ticks/fly_waypoints.hpp
index 7bf76fb9..a352cc7b 100644
--- a/include/ticks/fly_waypoints.hpp
+++ b/include/ticks/fly_waypoints.hpp
@@ -24,6 +24,7 @@ class FlyWaypointsTick : public Tick {
 
  private:
     Tick* next_tick;
+    std::chrono::milliseconds last_photo_time;
 };
 
 #endif  // INCLUDE_TICKS_FLY_WAYPOINTS_HPP_
diff --git a/protos b/protos
index af05980b..0789219c 160000
--- a/protos
+++ b/protos
@@ -1 +1 @@
-Subproject commit af05980bdd6ba49ad87abb9c662dd8fbea95d733
+Subproject commit 0789219cac47a9396b045d24f7152eabdd741dff
diff --git a/src/ticks/fly_waypoints.cpp b/src/ticks/fly_waypoints.cpp
index dc06a3bd..434e099d 100644
--- a/src/ticks/fly_waypoints.cpp
+++ b/src/ticks/fly_waypoints.cpp
@@ -5,12 +5,16 @@
 #include "ticks/ids.hpp"
 #include "ticks/mav_upload.hpp"
 #include "utilities/constants.hpp"
+#include "utilities/common.hpp"
+#include "pathing/environment.hpp"
 
 FlyWaypointsTick::FlyWaypointsTick(std::shared_ptr<MissionState> state, Tick* next_tick)
     :Tick(state, TickID::FlyWaypoints), next_tick(next_tick) {}
 
 void FlyWaypointsTick::init() {
     state->getMav()->startMission();
+    //state->getCamera()->startStreaming();
+    this->last_photo_time = getUnixTime_ms();
 }
 
 std::chrono::milliseconds FlyWaypointsTick::getWait() const {
@@ -18,6 +22,38 @@ std::chrono::milliseconds FlyWaypointsTick::getWait() const {
 }
 
 Tick* FlyWaypointsTick::tick() {
+    auto [lat_deg, lng_deg] = state->getMav()->latlng_deg();
+    double altitude_agl_m = state->getMav()->altitude_agl_m();
+    GPSCoord current_pos = makeGPSCoord(lat_deg, lng_deg, altitude_agl_m);
+    // Get the CartesianConverter (which is already initialized from mission boundaries)
+    auto converter = state->getCartesianConverter();
+    if (converter) {
+        // Convert GPS to local XYZ coords
+        XYZCoord current_xyz = converter->toXYZ(current_pos);
+        // Get the airdrop boundary polygon
+        Polygon airdrop_boundary = state->mission_params.getAirdropBoundary();
+        // Check if we're inside the airdrop zone
+        bool in_zone = Environment::isPointInPolygon(airdrop_boundary, current_xyz);
+        
+        if (in_zone) {
+            for (int i = 0; i < this->state->config.pathing.coverage.hover.pictures_per_stop; i++) {
+                auto photo = this->state->getCamera()->takePicture(std::chrono::milliseconds(100), this->state->getMav());
+                if (state->config.camera.save_images_to_file) {
+                    photo->saveToFile(state->config.camera.save_dir);
+                }
+
+                if (photo.has_value()) {
+                    // Update the last photo time
+                    this->last_photo_time = getUnixTime_ms();
+                    // Run the pipeline on the photo
+                    this->state->getCV()->runPipeline(photo.value());
+                }
+            }
+        } else {
+            // Stop camera/CV operations
+        }
+    }
+
     // TODO: Eventually implement dynamic avoidance so we dont crash brrr
     bool isMissionFinished = state->getMav()->isMissionFinished();
 

From b156feb49d1cb6f5e3eb7be0438ca75ee864e18c Mon Sep 17 00:00:00 2001
From: Aaryan Sharma <aaryan1310@gmail.com>
Date: Thu, 12 Feb 2026 02:06:26 +0000
Subject: [PATCH 2/2] fixed intervals

---
 src/ticks/fly_waypoints.cpp | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/ticks/fly_waypoints.cpp b/src/ticks/fly_waypoints.cpp
index 434e099d..dc66b1a2 100644
--- a/src/ticks/fly_waypoints.cpp
+++ b/src/ticks/fly_waypoints.cpp
@@ -8,12 +8,14 @@
 #include "utilities/common.hpp"
 #include "pathing/environment.hpp"
 
+using namespace std::chrono_literals; // NOLINT
+
 FlyWaypointsTick::FlyWaypointsTick(std::shared_ptr<MissionState> state, Tick* next_tick)
     :Tick(state, TickID::FlyWaypoints), next_tick(next_tick) {}
 
 void FlyWaypointsTick::init() {
     state->getMav()->startMission();
-    //state->getCamera()->startStreaming();
+    state->getCamera()->startStreaming();
     this->last_photo_time = getUnixTime_ms();
 }
 
@@ -34,10 +36,11 @@ Tick* FlyWaypointsTick::tick() {
         Polygon airdrop_boundary = state->mission_params.getAirdropBoundary();
         // Check if we're inside the airdrop zone
         bool in_zone = Environment::isPointInPolygon(airdrop_boundary, current_xyz);
-        
+
         if (in_zone) {
-            for (int i = 0; i < this->state->config.pathing.coverage.hover.pictures_per_stop; i++) {
-                auto photo = this->state->getCamera()->takePicture(std::chrono::milliseconds(100), this->state->getMav());
+            auto now = getUnixTime_ms();
+            if ((now - this->last_photo_time) >= 300ms) {
+                auto photo = this->state->getCamera()->takePicture(100ms, this->state->getMav());
                 if (state->config.camera.save_images_to_file) {
                     photo->saveToFile(state->config.camera.save_dir);
                 }