From 3809d92c538910a392de326c8f5b453eaf21e296 Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 11:00:30 -0600
Subject: [PATCH 01/10] Changed constants to parameters and added to
 NavigationParameters class

---
 src/navigator/navigator_node/main.py  | 23 +++++++++++++++++++----
 src/navigator/navigator_node/types.py | 11 +++++++++++
 2 files changed, 30 insertions(+), 4 deletions(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index 0fdb92a6..fdf5f0a1 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -637,8 +637,23 @@ async def _handle_search_mode(
 
         Returns the current navigation task.
         """
-        SEARCH_RADIUS = 10.0  # meters - TODO: Make this a parameter
-        SEARCH_POINTS = 10  # TODO: Make this a parameter
+
+        self.declare_parameter("search_radius", 10.0)
+        self.declare_parameter("search_points", 10)
+
+        search_radius = self.get_parameter("search_radius").value
+        search_points = self.get_parameter("search_points").value
+
+        self.nav_params = NavigationParameters(
+            search_radius=search_radius,
+            search_points=search_points,
+        )
+
+        if search_radius <= 0:
+            raise ValueError("Radius must be positive")
+        
+        if search_points < 3:
+            raise ValueError("Must have 3 or more points to make circle")
 
         # Check if queue empty
         if coordinate_queue.empty():
@@ -647,8 +662,8 @@ async def _handle_search_mode(
 
             similar_coords = generate_similar_coordinates(
                 current_location,
-                radius=SEARCH_RADIUS,
-                num_points=SEARCH_POINTS,
+                radius=self.nav_params.search_radius,
+                num_points=self.nav_params.search_points,
             )
 
             # Add coordinates to queue, prioritized by distance to current location
diff --git a/src/navigator/navigator_node/types.py b/src/navigator/navigator_node/types.py
index a4abb056..0162bb84 100644
--- a/src/navigator/navigator_node/types.py
+++ b/src/navigator/navigator_node/types.py
@@ -12,6 +12,17 @@ class NavigationMode(Enum):
 
 @dataclass(kw_only=True)
 class NavigationParameters:
+    search_radius: float
+    """
+    The radius of the circle we want the Rover to drive around.
+    """
+    
+    search_points: int
+    """
+    How many coordinates to generate (i.e. how many points should the circle 
+    of coordinates be made of)
+    """
+
     coord: GeoPoint
     """
     The coordinate that either is our goal (if `mode` is `GPS`), or is some

From 3f3394cd2081b1d8b9c6f721c0c5663b37eec32f Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 11:21:51 -0600
Subject: [PATCH 02/10] Fixed formatting

---
 src/navigator/navigator_node/main.py  | 2 +-
 src/navigator/navigator_node/types.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index fdf5f0a1..8510e989 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -651,7 +651,7 @@ async def _handle_search_mode(
 
         if search_radius <= 0:
             raise ValueError("Radius must be positive")
-        
+
         if search_points < 3:
             raise ValueError("Must have 3 or more points to make circle")
 
diff --git a/src/navigator/navigator_node/types.py b/src/navigator/navigator_node/types.py
index 0162bb84..79709239 100644
--- a/src/navigator/navigator_node/types.py
+++ b/src/navigator/navigator_node/types.py
@@ -16,7 +16,7 @@ class NavigationParameters:
     """
     The radius of the circle we want the Rover to drive around.
     """
-    
+
     search_points: int
     """
     How many coordinates to generate (i.e. how many points should the circle 

From 9557df8a112da5fb331f81cd55a6c14441b9d087 Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 12:04:06 -0600
Subject: [PATCH 03/10] Potential fixes for Pyright errors

---
 src/navigator/navigator_node/main.py  | 8 ++++----
 src/navigator/navigator_node/types.py | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index 8510e989..1a476bc4 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -638,11 +638,11 @@ async def _handle_search_mode(
         Returns the current navigation task.
         """
 
-        self.declare_parameter("search_radius", 10.0)
-        self.declare_parameter("search_points", 10)
+        _ = self.declare_parameter("search_radius", 10.0)
+        _ = self.declare_parameter("search_points", 10)
 
-        search_radius = self.get_parameter("search_radius").value
-        search_points = self.get_parameter("search_points").value
+        search_radius = float(self.get_parameter("search_radius").value)
+        search_points = int(self.get_parameter("search_points").value)
 
         self.nav_params = NavigationParameters(
             search_radius=search_radius,
diff --git a/src/navigator/navigator_node/types.py b/src/navigator/navigator_node/types.py
index 79709239..760f6032 100644
--- a/src/navigator/navigator_node/types.py
+++ b/src/navigator/navigator_node/types.py
@@ -12,18 +12,18 @@ class NavigationMode(Enum):
 
 @dataclass(kw_only=True)
 class NavigationParameters:
-    search_radius: float
+    search_radius: float | None = None
     """
     The radius of the circle we want the Rover to drive around.
     """
 
-    search_points: int
+    search_points: int | None = None
     """
     How many coordinates to generate (i.e. how many points should the circle 
     of coordinates be made of)
     """
 
-    coord: GeoPoint
+    coord: GeoPoint | None = None
     """
     The coordinate that either is our goal (if `mode` is `GPS`), or is some
     point around an ArUco marker or an object.
@@ -37,7 +37,7 @@ class NavigationParameters:
     https://docs.opencv.org/3.4/d9/d6a/group__aruco.html#ggac84398a9ed9dd01306592dd616c2c975ada8e830ff0024e839e93c01f5fed0c55
     """
 
-    mode: NavigationMode
+    mode: NavigationMode | None = None
     """
     Indicates what the Navigator is doing.
 

From 67037b6e854ae0a5e37a70a3971c7a7487c412f3 Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 15:01:05 -0600
Subject: [PATCH 04/10] Second attempted fix for pyright stuff

---
 src/navigator/navigator_node/main.py  | 43 +++++++++++++++------------
 src/navigator/navigator_node/types.py |  7 ++---
 2 files changed, 27 insertions(+), 23 deletions(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index 1a476bc4..c96b95d0 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -170,10 +170,32 @@ def __init__(self):
             )
             sys.exit(1)
 
+        # Declare search parameters
+        _ = self.declare_parameter("search_radius", 10.0)
+        _ = self.declare_parameter("search_points", 10)
+
+        search_radius_raw = self.get_parameter("search_radius").value
+        search_points_raw = self.get_parameter("search_points").value
+
+        if search_radius_raw is None or search_points_raw is None:
+            self.get_logger().error("No search paramaters set")
+            sys.exit(1)
+
+        search_radius = float(search_radius_raw)
+        search_points = int(search_points_raw)
+
+        if search_radius <= 0:
+            raise ValueError("Radius must be positive")
+        
+        if search_points < 3:
+            raise ValueError("Must be 3 or more points to create circle")
+
         # construct the parameters
         self.nav_parameters = NavigationParameters(
             coord=coord,
             mode=NavigationMode(mode_int),
+            search_radius=search_radius,
+            search_points=search_points
         )
         _ = self.get_logger().debug("constructed all parameters.")
 
@@ -638,23 +660,6 @@ async def _handle_search_mode(
         Returns the current navigation task.
         """
 
-        _ = self.declare_parameter("search_radius", 10.0)
-        _ = self.declare_parameter("search_points", 10)
-
-        search_radius = float(self.get_parameter("search_radius").value)
-        search_points = int(self.get_parameter("search_points").value)
-
-        self.nav_params = NavigationParameters(
-            search_radius=search_radius,
-            search_points=search_points,
-        )
-
-        if search_radius <= 0:
-            raise ValueError("Radius must be positive")
-
-        if search_points < 3:
-            raise ValueError("Must have 3 or more points to make circle")
-
         # Check if queue empty
         if coordinate_queue.empty():
             # Generate new search coordinates around current location
@@ -662,8 +667,8 @@ async def _handle_search_mode(
 
             similar_coords = generate_similar_coordinates(
                 current_location,
-                radius=self.nav_params.search_radius,
-                num_points=self.nav_params.search_points,
+                radius=self.nav_parameters.search_radius,
+                num_points=self.nav_parameters.search_points,
             )
 
             # Add coordinates to queue, prioritized by distance to current location
diff --git a/src/navigator/navigator_node/types.py b/src/navigator/navigator_node/types.py
index 760f6032..fa3d7c3d 100644
--- a/src/navigator/navigator_node/types.py
+++ b/src/navigator/navigator_node/types.py
@@ -1,6 +1,5 @@
 from dataclasses import dataclass
 from enum import Enum
-
 from geographic_msgs.msg import GeoPoint
 
 
@@ -12,18 +11,18 @@ class NavigationMode(Enum):
 
 @dataclass(kw_only=True)
 class NavigationParameters:
-    search_radius: float | None = None
+    search_radius: float
     """
     The radius of the circle we want the Rover to drive around.
     """
 
-    search_points: int | None = None
+    search_points: int
     """
     How many coordinates to generate (i.e. how many points should the circle 
     of coordinates be made of)
     """
 
-    coord: GeoPoint | None = None
+    coord: GeoPoint
     """
     The coordinate that either is our goal (if `mode` is `GPS`), or is some
     point around an ArUco marker or an object.

From 258131d8f633d78915dcd549c3db87c1abac20e6 Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 15:04:20 -0600
Subject: [PATCH 05/10] Fixed formatting again

---
 src/navigator/navigator_node/main.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index c96b95d0..7b61e782 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -186,7 +186,7 @@ def __init__(self):
 
         if search_radius <= 0:
             raise ValueError("Radius must be positive")
-        
+
         if search_points < 3:
             raise ValueError("Must be 3 or more points to create circle")
 
@@ -195,7 +195,7 @@ def __init__(self):
             coord=coord,
             mode=NavigationMode(mode_int),
             search_radius=search_radius,
-            search_points=search_points
+            search_points=search_points,
         )
         _ = self.get_logger().debug("constructed all parameters.")
 

From 3375161fce2d94a819ceca303e87468885d7c01d Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 17:02:25 -0600
Subject: [PATCH 06/10] Pywright fix attempt 3

---
 src/navigator/navigator_node/main.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index 7b61e782..4cb6f7ad 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -178,7 +178,9 @@ def __init__(self):
         search_points_raw = self.get_parameter("search_points").value
 
         if search_radius_raw is None or search_points_raw is None:
-            self.get_logger().error("No search paramaters set")
+            self.get_logger().error(
+                "No search paramaters set."
+            )
             sys.exit(1)
 
         search_radius = float(search_radius_raw)

From 4c51fff8d5b9e8d181d1855dbade07e0b833fc35 Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 17:05:25 -0600
Subject: [PATCH 07/10] Formatted again

---
 src/navigator/navigator_node/main.py | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index 4cb6f7ad..c22090d6 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -178,9 +178,7 @@ def __init__(self):
         search_points_raw = self.get_parameter("search_points").value
 
         if search_radius_raw is None or search_points_raw is None:
-            self.get_logger().error(
-                "No search paramaters set."
-            )
+            self.get_logger().error("No search paramaters set.")
             sys.exit(1)
 
         search_radius = float(search_radius_raw)

From 59e7cf124c9e56b1d5b67c011c11052b6365073e Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 17:13:12 -0600
Subject: [PATCH 08/10] Pywright fixes

---
 src/navigator/navigator_node/main.py  | 2 +-
 src/navigator/navigator_node/types.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index c22090d6..445c3f6d 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -179,7 +179,7 @@ def __init__(self):
 
         if search_radius_raw is None or search_points_raw is None:
             self.get_logger().error("No search paramaters set.")
-            sys.exit(1)
+            raise SystemExit(1)
 
         search_radius = float(search_radius_raw)
         search_points = int(search_points_raw)
diff --git a/src/navigator/navigator_node/types.py b/src/navigator/navigator_node/types.py
index fa3d7c3d..14eefc08 100644
--- a/src/navigator/navigator_node/types.py
+++ b/src/navigator/navigator_node/types.py
@@ -36,7 +36,7 @@ class NavigationParameters:
     https://docs.opencv.org/3.4/d9/d6a/group__aruco.html#ggac84398a9ed9dd01306592dd616c2c975ada8e830ff0024e839e93c01f5fed0c55
     """
 
-    mode: NavigationMode | None = None
+    mode: NavigationMode
     """
     Indicates what the Navigator is doing.
 

From 7bd0b45997d537973c487446816f68429f3a8c0c Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 17:19:59 -0600
Subject: [PATCH 09/10] More Pywright fixes

---
 src/navigator/navigator_node/main.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index 445c3f6d..fedac2ff 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -178,7 +178,7 @@ def __init__(self):
         search_points_raw = self.get_parameter("search_points").value
 
         if search_radius_raw is None or search_points_raw is None:
-            self.get_logger().error("No search paramaters set.")
+            _ = self.get_logger().error("No search paramaters set.")
             raise SystemExit(1)
 
         search_radius = float(search_radius_raw)

From 64742d36d74d84bddf59b7bb4998097a421a09e9 Mon Sep 17 00:00:00 2001
From: Carson Burnett <carsonburnett379@icloud.com>
Date: Fri, 20 Feb 2026 18:02:56 -0600
Subject: [PATCH 10/10] Marker Missed Threshold Parameter implemented

---
 src/navigator/navigator_node/main.py  | 18 ++++++++++++++++--
 src/navigator/navigator_node/types.py |  6 ++++++
 2 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/src/navigator/navigator_node/main.py b/src/navigator/navigator_node/main.py
index fedac2ff..4a45d641 100644
--- a/src/navigator/navigator_node/main.py
+++ b/src/navigator/navigator_node/main.py
@@ -190,12 +190,27 @@ def __init__(self):
         if search_points < 3:
             raise ValueError("Must be 3 or more points to create circle")
 
+        # Marker Missed Threshold parameter
+        _ = self.declare_parameter("marker_missed_threshold", 20)
+
+        threshold_raw = self.get_parameter("marker_missed_threshold").value
+
+        if threshold_raw is None:
+            _ = self.get_logger().error("marker_missed_threshold not set")
+            raise SystemExit(1)
+
+        marker_missed_threshold = int(threshold_raw)
+
+        if marker_missed_threshold <= 0:
+            raise ValueError("Threshold must be positive")
+
         # construct the parameters
         self.nav_parameters = NavigationParameters(
             coord=coord,
             mode=NavigationMode(mode_int),
             search_radius=search_radius,
             search_points=search_points,
+            marker_missed_threshold=marker_missed_threshold,
         )
         _ = self.get_logger().debug("constructed all parameters.")
 
@@ -624,10 +639,9 @@ async def _handle_marker_lost(
 
         Returns updated values for parent function.
         """
-        MARKER_MISSED_THRESHOLD = 20  # TODO: Make this a parameter
 
         # If missed count is too high, cancel current search task and stop tracking
-        if marker_missed_count > MARKER_MISSED_THRESHOLD:
+        if marker_missed_count > self.nav_parameters.marker_missed_threshold:
             llogger.warning(
                 f"Marker lost after {marker_missed_count} consecutive missed detections. \
                 Resuming search pattern."
diff --git a/src/navigator/navigator_node/types.py b/src/navigator/navigator_node/types.py
index 14eefc08..ca2619a5 100644
--- a/src/navigator/navigator_node/types.py
+++ b/src/navigator/navigator_node/types.py
@@ -43,3 +43,9 @@ class NavigationParameters:
     For example, if we're given `NavigationMode::GPS`, we'll navigate to the given GPS
     coordinate and stop when we're there.
     """
+
+    marker_missed_threshold: int
+    """
+    Decides how many times a marker is missed before we decide that us seeing it
+    was a false positive and we stop trying to track it.
+    """