MAV_CMD_DO_SET_HOME - add home position roll/pitch #1849
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This follows on from #1843 (comment) |
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I'd like to talk about this at the next meeting and either close it or get it in. |
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Makes sense. @auturgy FYI. I have added to the next agenda https://github.com/mavlink/mavlink/wiki/20231122-Dev-Meeting . If you guys have an opinion on this would be good to present that before the meeting |
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My vote is to get this in. |
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Mine too. |
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Need to define ranges |
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20231122-Dev-Meeting - agreed to get this in but need to define ranges on the fields (at least the new ones). OK for it to be zero and NaN for "unknown. Think the 0.1 value should be used to represent 0. Ping me to look when you're done. |
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Signed-off-by: Julian Oes <julian@oes.ch>
message_definitions/v1.0/common.xml
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| <param index="4" label="Yaw" units="deg">Yaw angle. NaN to use default heading</param> | ||
| <param index="2" label="Roll" units="deg" minValue="-180" maxValue="180">Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.</param> | ||
| <param index="3" label="Pitch" units="deg" minValue="-90" maxValue="90">Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.</param> | ||
| <param index="4" label="Yaw" units="deg">Yaw angle. NaN to use default heading. Range: -180..180 degrees.</param> |
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@auturgy This looks like what we asked for except possibly this Yaw. Does ardupilot allow this constraint to be applied?
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@auturgy Julian is going to add a range. Can you look at this tomorrow - otherwise I will merge this as "what we were talking about AFAIK"
Signed-off-by: Julian Oes <julian@oes.ch>
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I am self merging following the discussions on this in MAV call etc. |
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Thanks @hamishwillee |
The vehicle outputs a quaternion of vehicle roll/pitch/yaw in the HOME_POSITION message.
As discussed in #1843, the expectation is that either the quaternion outputs accurate values or NaNs for all value (even if you have a value for the yaw, you can't output it in the form of a quaternion unless you also have "some" roll and pitch value).
The proposal here is that we allow the
MAV_CMD_DO_SET_HOMEto also specify a roll and pitch of the home position.Note, there is no way to say "I don't know the pitch, roll" of the surface at home - if you don't know you're saying it's flat. Is that OK?