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common: add MAV_CMD to process custom actions on a waypoint #1516

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common: add MAV_CMD to process custom actions on a waypoint #1516

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common: add MAV_CMD_CUSTOM_ACTION to define a new way of triggering a…
TSC21 Oct 20, 2020
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common: MAV_CMD_CUSTOM_ACTION: add wip tag
TSC21 Oct 21, 2020
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11 changes: 11 additions & 0 deletions message_definitions/v1.0/common.xml
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Expand Up @@ -1867,6 +1867,17 @@
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="2700" name="MAV_CMD_CUSTOM_ACTION" hasLocation="false" isDestination="false">
<wip/>
<description>Custom action to execute at this specific waypoint. The definition of the action, or set of actions, to execute, as well as the associated metadata is stored in the system that is going to process the action.</description>
<param index="1" label="Action" minValue="0" increment="1">Number of the custom action that will be executed. The metadata associated with this action is stored on the system that is going to process this command.</param>
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The action is a MAV_CMD, isn't it? So "Number" is a message id, right? If that's correct, I think that "ID" would make it clearer to me than "Number".

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<param index="1" label="Action" minValue="0" increment="1">Number of the custom action that will be executed. The metadata associated with this action is stored on the system that is going to process this command.</param>
<param index="1" label="Action" minValue="0" increment="1">ID of the custom action that will be executed. The metadata associated with this action is stored on the system that is going to process this command.</param>

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The action is a MAV_CMD, isn't it? So "Number" is a message id, right?

The action is something that gets executed by this MAV_CMD. Can even be another MAV_CMD, or a time split sequence of them, or something else. The number represents the action that will be executed. Maybe ID can still fit better though.

<param index="2" label="Execution control" minValue="0" increment="1" maxValue="2">Control when the Vehicle moves to the next waypoint. 0: Use ACK from component responsible for executing the action, to move to the next Waypoint. Otherwise, move when timeout (param 3) is reached; 1: Waits for an amount of time (param 3) before moving to the next waypoint, even if the ACK is received from the component responsible for executing the action; 2: Wait for the ACK component responsible for executing the action and blocks the navigation (just moves when an ACK is received).</param>
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Please add an enum for this. It makes documenting it easier and leads to a cleaner implementation

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It looked too short to me to justify an enum, but yes I guess I can do that. Thanks for the feedback @amilcarlucas!

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  • What is difference between 0 and 3?
  • Which ACK? Success only? What if fail or in progress or whatever? The problem with an ACK is that typically something has to be sent back very quickly, while you might want to have the thing sitting there for ages, but not as long as your timeout.

Some real examples might help here.

<param index="3" label="Timeout / Max execution time" units="s" minValue="0">Used by the navigation module to set the timeout for the receiving feedback of successful execution, or to set the time of execution before moving to the next waypoint.</param>
<param index="4" reserved="true" default="NaN"/>
<param index="5" reserved="true" default="NaN"/>
<param index="6" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="2800" name="MAV_CMD_PANORAMA_CREATE" hasLocation="false" isDestination="false">
<description>Create a panorama at the current position</description>
<param index="1" label="Horizontal Angle" units="deg">Viewing angle horizontal of the panorama (+- 0.5 the total angle)</param>
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