Plane: Support a set of offboard MAVLink guided controls with rates #13637
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Note/s this code (with only slight variations ) has been extensively flown over the last 18months on a number of different branches, starting from 3.8.5, and including 3.9.7 and 4.0-beta1. it's also been simmed a lot too. |
ArduPlane/Log.cpp
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| @@ -287,6 +326,36 @@ void Plane::Log_Write_Vehicle_Startup_Messages() | |||
| gps.Write_AP_Logger_Log_Startup_messages(); | |||
| } | |||
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| /* | |||
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Anything wrong with the existing log_MAVLink_Command?
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To be clear; MAV_CMD_DO_CHANGE_SPEED could get a |
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Interesting, but I don't see the advantages of those messages agains SET_POSITIONS one's in body_frame. They are already able to do this and more with a single interface |
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@khancyr Note these are commands, not messages. Commands give you direct feedback on success/failure. We do have commands which I believe can be stretched to add the rate parameters - thus my comments here. |
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I've just finished flying this latest code around in the sim in GUIDED and sending it the appropriate MAV_CMD_GUIDED_CHANGE_SPEED , MAV_CMD_GUIDED_CHANGE_HEADING, and MAV_CMD_GUIDED_CHANGE_ALTITUDE, and entering/exiting from this with GUIDED and leaving GUIDED mode, and all the expected new behaviours for these are working. |
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latest push includes fixes so it builds under HAL_MINIMIZE_FEATURES, hopefully this will get CI to pass. Also now fixed fabs() to fabsf() to avoid double maths. |
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Latest version makes logging more consistent with existing layouts, and fixes a bug i briefly had that crashed sitl due to it doing extra checks on the formatting layout/s of packets, and it now passes test.QuadPlane.LoggerDocumentation CI test. Oh, i've also just extensively re-flown this in sitl triggering all the COMMAND_INT packet types that it uses, and checked they are all logging correctly and displaying their FMTs corrrectly. |
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I've rebased, fixed the conflict and fixed the submodule update |
Depends on ArduPilot/mavlink#109
This creates extra GUIDED commands for a companion computer to autonomously control not just heading, speed and altitude, but specifically the RATE at which the vehicle 'slews' toward each of it's targets.
These commands have zero effect on a standard vehicle until such time as it is put in GUIDED and also any of these new mavlink command/s are used by a companion computer. Changing vehicle mode to any other mode even briefly reverts to standard behaviour, including standard GUIDED behaviour.
Using any single packet (eg heading) will cause the other behaviour/s (speed and alt) to be left as per normal GUIDED behaviour, but using all three gives full and 3d dynamic control of the vehicle envelope.