Command to allow geofence action to be set per-fence #1482
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hamishwillee
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@julianoes @auturgy @DonLakeFlyer I think this is nearly ready to go - can you give it a review? The message sets the default system action if used in command protocol, and the action for the next fence if used in a plan. I have stated that the value in the mission plan overrides the system default even if the default action is to turn off geofences. Thoughts? Otherwise, the FENCE_ACTION just extends the options from ArduPilot with those from PX4. A system is expected to reject a command/plan that sets a value it does not support. |
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@DonLakeFlyer @julianoes Reminder - needs a sanity check. |
message_definitions/v1.0/common.xml
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| </entry> | ||
| <entry value="2" name="FENCE_ACTION_REPORT"> | ||
| <description>Report fence breach, but don't take action</description> | ||
| </entry> | ||
| <entry value="3" name="FENCE_ACTION_GUIDED_THR_PASS"> | ||
| <description>Switched to guided mode to return point (fence point 0) with manual throttle control</description> | ||
| <description>Fly to MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode.</description> |
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Is ArduPlane keeping the concept of fence return points in the new implementation or is it switching to rally points? I'm concerned about reusing these actions for the new fence protocol and carrying over things which may not make sense any more.
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@DonLakeFlyer I understand that ArduPlane will not use these fence return points any more. However they will also have legacy vehicles that still support the setting.
@auturgy are you OK with us marking the cases like FENCE_ACTION_GUIDED_THR_PASS as deprecated and having adding text to description "do not use". If we can change the name to reserved as well that would be good - but I presume might break "someone".
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I’d prefer to wait until the new fence protocol is merged for ArduPilot-Plane, to be sure we make an accurate assessment.
Regards,
James
… On 16 Oct 2020, at 5:03 pm, Hamish Willee ***@***.***> wrote:
@hamishwillee commented on this pull request.
In message_definitions/v1.0/common.xml:
> </entry>
<entry value="2" name="FENCE_ACTION_REPORT">
<description>Report fence breach, but don't take action</description>
</entry>
<entry value="3" name="FENCE_ACTION_GUIDED_THR_PASS">
- <description>Switched to guided mode to return point (fence point 0) with manual throttle control</description>
+ <description>Fly to MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode.</description>
@DonLakeFlyer I understand that ArduPlane will not use these fence return points any more. However they will also have legacy vehicles that still support the setting.
@auturgy are you OK with us marking the cases like FENCE_ACTION_GUIDED_THR_PASS as deprecated and having adding text to description "do not use". If we can change the name to reserved as well that would be good - but I presume might break "someone".
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@auturgy Fair enough. Blocked/paused until ArduPilot/ardupilot#15288 merged. FWIW commitment from ArduPilot and PX4 to implement this would be highly desirable before merging. |
I would say that it should be required for at least one of them to commit. Otherwise it's just cruft in the spec. |
And you'd be right. This evolved from a chat in a dev call where everyone said "what a good idea" but that's not the same as saying "we'll implement it". |
RE. This point - I'm working on getting support for the new fence protocol into ArduPlane, but this is a work in progress as we encounter blocking points to be rectified. Some required changes are currently under review, so this will take some time. |
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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Now no longer blocked by ArduPlane, as geofence implementation went in. @joshanne Can you confirm which fence actions from the set in this PR are/are not supported by the new implementation? (e.g. I'm guessing you might have dropped FENCE_ACTION_GUIDED_THR_PASS ) Lastly, did you drop support for the MAV_CMD_NAV_FENCE_RETURN_POINT (which makes no sense now) |
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We agreed in the dev call this should be "standard". I have updated to clarify that the @DonLakeFlyer There is an action on @auturgy to confirm whether the new ArduPlane updates dropped support for @LorenzMeier @auturgy Any comments before I merge? |
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Self merged. |
This reverts commit 6652031. There's a problem with the C library generator: The addition of MAV_CMD to development.xml led to the removal of MAV_CMD in common.h. This breaks build for everyone using that enum and including 'common.h' or 'standard.h' (and probably others). See mavlink/c_library_v2@992871b
…#1626) This reverts commit 6652031. There's a problem with the C library generator: The addition of MAV_CMD to development.xml led to the removal of MAV_CMD in common.h. This breaks build for everyone using that enum and including 'common.h' or 'standard.h' (and probably others). See mavlink/c_library_v2@992871b
MAVLink has a FENCE_ACTION that defines a number of possible actions on geofence breach. This is currently used only by ArduPilot to define the values for the system action on fence breach (it is used directly in a parameter).
This PR generalises the action, and defines a command that can be included in a geofence definition (as many times as you like) to allow the geofences in a plan to have separate actions assigned.
The message can also be used via the command protocol to set the global/system-default fence action.