Add custom_action plugin #1
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…t of the set function
… progress reports
… custom action metadata
…link commands and scripts)
…roperly parse fields from JSON
…nt to the autopilot
…is the one sending the ACKs
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For SITL testing to past, this requires https://github.com/Auterion/PX4_firmware_private/pull/857 to be merged. |
…nce system is not available
…l_script actions and staged actions
…to the home position, so to be able to spawn the vehicle in different locations on testing
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…e time-dependent logic
…ed for validation
Took some time but I am happy with the results! Thanks for the help, review and patience @JonasVautherin and @julianoes! We should eventually inspect what's causing those weird issues on the CI testing (causing it to fail). It's curious this is happening here where we are triggering the execution of Python scripts, because I am seeing similar problems on, for example, |
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Related JIRA task for context: https://auterion.atlassian.net/browse/MAVSDK-41.
This is the implementation for supporting parsing and execution of custom action waypoints on a mission computer application using the API made available here. For an understanding of the general sequence (from the ground station, to the action execution, to the mission finishing), check the following diagram:
A diagram will be added as well to explain the handshake that happens between the MAVSDK client and server. In the meantime, here's the functionalities added:
MAV_CMD_WAYPOINT_USER_1Mavlink command to get the custom action IDCOMMAND_CANCELmessages when the FMU cancels the action execution (due a timeout).On this PR, it is also added a couple more containers and Github Actions jobs to run the integration tests against APX4 releases and the
developbranch.This is an intermediate step for the development of the Autopilot Manager, which in the end is going to be the entity that is going to use this API.