Antenna tracker: mend most things #10452

IamPete1 · 2019-02-07T22:52:45Z

This fixes a few of the things broken with tracker. However still some issues with the pass through telemetry. I have been connecting directly to tracker with USB. When connected to copter it will only get its location back and a few messages, however with plane it seems to get back all the information it should. When connected to plane or copter there is no GCS control of either tracker or the remote vehicle. My theory is that no messages are getting to tracker or passed on, therefore only getting back what information is streamed by default? Before any connection is made to the remote vehicle tracker behaves as it should can change modes and parameters. Would be great full for some advise on the this pass through issue.

Anyway fixed in this PR are:

Starting lat and long prams now work as they should, and tracker reports its location as the one it is using to track with
Can now arm and disarm from mission planner, I did this by removing this if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) not sure what it does, couldn't find any other uses of it in the code-base
Mission library is constructed, this is not used but it fixes annoying failed to update home location warnings in MP, I added placeholder mission commands that all return false.
Added gcs pid mask to report back the pid gains for pitch and yaw as with rover. Potentially useful but untested due to being locked out of all control once the pids are used and a remote vehicle has connected.

AntennaTracker/GCS_Mavlink.cpp

AntennaTracker/Parameters.h

rmackay9 · 2019-02-08T00:32:58Z

AntennaTracker/Tracker.h

@@ -278,6 +290,11 @@ class Tracker : public AP_HAL::HAL::Callbacks {
    void tracking_manual_control(const mavlink_manual_control_t &msg);
    void update_armed_disarmed();

+    // Mission library
+    AP_Mission mission{


Do we need the mission object for anything? we don't support missions.. is it required in order to hold the home position?

its just so we can use the GCS mission messages, the mavlink gcs common returns errors to mission planner when it tries to read way point zero on arming. The fix is to construct the mission library so its not nulptr, the other way to fix is add custom mavlink messages for all the mission messages that know not to look for the mission library.

Is it worthwhile to change AP_Mission to check for nullptr callbacks?

Yup, sounded like such a good idea that I went ahead and did it. See #10542

Using that, you probably don't need to create a mission instance. if you did, you could just pass it nullptr functions instead of these empty ones.

rmackay9 · 2019-02-08T00:33:38Z

@IamPete1, this looks really good, thanks for taking this on. Just a couple of cosmetic things and then I'll pull it in.

peterbarker · 2019-02-08T00:52:48Z

Commit messages need fixing.

peterbarker

Two commits need to be folded together.

AntennaTracker/GCS_Mavlink.cpp

AntennaTracker/sensors.cpp

AntennaTracker/GCS_Mavlink.cpp

AntennaTracker/control_auto.cpp

AntennaTracker/tracking.cpp

peterbarker · 2019-02-08T22:16:49Z

On Fri, 8 Feb 2019, Peter Hall wrote: I can put the if statements the other way round, the key thing is not to overwrite the current location when calling the ahrs get position

Yep!

AntennaTracker/GCS_Mavlink.cpp

IamPete1 · 2019-02-08T22:49:09Z

This now also fixes the communications lock out issue, dare i say, maybe we could do a release, I think it would get lots more use with all the new boards supported

Evan1010 · 2019-02-14T18:48:13Z

Really looking forward to a new release, when possible!

I remember trying and failing to get the 1.0.0 firmware running on anything but a Pixhawk 1 (a PX4-v2.4.8 clone), so supporting more modern hardware (e.g. cheaper boards, better compasses) would be a boon. It was difficult to get an accurate heading in some situations. Now I just need to figure how to tune the PIDs better.

At the very least, having someone take a look at the firmware to fix current bugs is great.

IamPete1 · 2019-02-14T20:25:43Z

@Evan1010 Should be a new beta an a week or two. To help with PID tuning this included gcs_pid mask param that sends back the values to the gcs. If your keen to get started i can build you a firmware.

magicrub · 2019-02-17T16:44:18Z

let's get this passing CI and re-evaluate for merging!

AntennaTracker/tracking.cpp

magicrub · 2019-02-17T17:32:46Z

please rebase this, it's failing on the AP_Logger compile failure thing that snuck in briefly. The particular commit you're basing this on is broken. current master is better

IamPete1 · 2019-02-17T17:55:49Z

@magicrub re-based and fixed that if, hopefully should pass checks now.

Thanks for taking the time to have a look at this.

rmackay9 · 2019-02-19T00:49:42Z

action from the dev call is for @peterbarker to have another look now that it's been rebased.

The rebase has sadly been broken again so perhaps @IamPete1 could rebase again.. or maybe Peter can just ignore that rebase issue as part of his review

magicrub

I see 1.5 changes needed. The params are still being corrupted and @peterbarker noted something about the pitch2srv angles

AntennaTracker/Parameters.h

AntennaTracker/control_auto.cpp

fixed

peterbarker · 2019-02-28T03:34:12Z

Things aren't factored quite right in the commits here.

I've pulled out the compass functions here: #10653

IamPete1 · 2019-03-02T12:24:20Z

@peterbarker once #10664 has gone in this is all i have left in this PR.
Thanks for all your help getting this sorted

IamPete1 · 2019-03-09T14:46:04Z

I think this just needs a merge now, nothing controversial left

peterbarker

Should be two commits.

Which mission commands currently fail without the instantiation of the mission object?

AntennaTracker/control_auto.cpp

IamPete1 · 2019-03-10T10:34:52Z

@peterbarker Mission planner (possibly also otters) attempts to read waypoint zero on arming resulting in a error. I thought it was easier to construct the mission library than to add a special case to catch that request.

peterbarker · 2019-03-10T10:49:14Z

On Sun, 10 Mar 2019, Peter Hall wrote: @peterbarker Mission planner (possibly also otters) attempts to read waypoint zero on arming resulting in a error. I thought it was easier to construct the mission library than to add a special case to catch that request.

We can vastly improve home-storage by using the library, so I'm not complaining. But MP asking for waypoint-0 for home is weird. I wonder if that's an AntennaTracker-special thing, and whether the recent home improvements may have removed the requirement for it.

IamPete1 · 2019-03-10T11:07:01Z

@peterbarker the issue is still there on master, I think mission planner does it for all vehicles

fixed

peterbarker · 2019-03-17T23:11:27Z

Merged, thanks!

IamPete1 added the AntennaTracker label Feb 7, 2019

IamPete1 mentioned this pull request Feb 7, 2019

Manual start position not working on 1.0.0 #5007

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IamPete1 changed the title ~~Antenna tracker: mend some things~~ Antenna tracker: mend most things Feb 8, 2019

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Antenna tracker: fix scan mode #10492

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IamPete1 mentioned this pull request Feb 14, 2019

Antenna tracker: track ADSB-ID #10522

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magicrub mentioned this pull request Feb 17, 2019

AP_Mission: check if callback is valid before calling it #10542

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Tracker: initialize mission object

5fe25c4

Tracker: set actual and desired for GCS-PID message

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peterbarker merged commit 392b59d into ArduPilot:master Mar 17, 2019

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Antenna tracker: mend most things #10452

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