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guided_target: accept position-target-global-int messages #1780

Merged
merged 1 commit into from
Sep 11, 2022
Merged

guided_target: accept position-target-global-int messages #1780

merged 1 commit into from
Sep 11, 2022

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snktshrma
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This PR attempts to implement the suggestions in the PR #1184 by @rmackay9 to allow mavros to accept POSITION_TARGET_GLOBAL_INT message from FCU or GCS.

There were suggestions by @TSC21 and @vooon to implement a separate plugin for the purpose and use POSITION_TARGET_GLOBAL_INT message type.

There's an issue I found:

  • After commanding the vehicle in off-board mode to a specific location, vehicle tends to go to a specific position(different from what it is commanded) everytime.

Hoping for a resolution to this issue.

vooon
vooon reviewed Sep 7, 2022
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I see only few minor style fixes, but overall looks good.

But i'd like to have some more meaningful name for the plugin. "Offboard" looks messy as it doesn't say what it does.

@vooon vooon added this to the Version 1.14 milestone Sep 7, 2022
@snktshrma
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But i'd like to have some more meaningful name for the plugin. "Offboard" looks messy as it doesn't say what it does.

Thanks @vooon for the review! Can "guided_target" name be used instead?

@vooon
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vooon commented Sep 7, 2022

@snktshrma yes, that sounds better, but i'd like to hear others too. CC @rmackay9, @TSC21 .

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rmackay9 commented Sep 8, 2022

Hi, yes, I'm happy with the name "guided_target". I'm very happy to see this plugin.

@snktshrma
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Thanks @rmackay9 @vooon for review! I have made the required changes

@snktshrma snktshrma changed the title offboard_position: accept position-target-global-int messages guided_target: accept position-target-global-int messages Sep 8, 2022
vooon
vooon approved these changes Sep 9, 2022
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Looks good, just a few style fix needed.

mavros_extras/src/plugins/guided_target.cpp Show resolved Hide resolved
mavros_extras/src/plugins/guided_target.cpp Show resolved Hide resolved
mavros_extras/src/plugins/guided_target.cpp Outdated Show resolved Hide resolved
@snktshrma
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@vooon thanks for the review! Made the required changes

@snktshrma
plugins: add guided_target to accept offboard position targets
fe92997 
Update guided_target.cpp

Update guided_target.cpp

Update mavros_plugins.xml

Update CMakeLists.txt

Added offboard_position.cpp

Update apm_config.yaml

Update offboard_position.cpp

Update offboard_position.cpp

Rename offboard_position.cpp to guided_target.cpp

Update CMakeLists.txt

Update mavros_plugins.xml

Update apm_config.yaml

Update guided_target.cpp
@vooon vooon merged commit 1bee6ee into mavlink:master Sep 11, 2022
@shubham-shahh
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Hi @snktshrma can you please elaborate upon the issue you have mentioned in the description of this PR?

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snktshrma commented Sep 11, 2022 •
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Hi @shubham-shahh!
So the actual issue is when we set the target position for the vehicle, it doesn't go to that place. Instead it goes to only a specific position different from what's specified.
I'll create an issue for this and try to add a video of this

@shubham-shahh
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Hi @shubham-shahh!
So the actual issue is when we set the target position for the vehicle, it doesn't go to that place. Instead it goes to only a specific position different from what's specified.
I'll create an issue for this and try to add a video of this

Sure, a video would be great, because I'm still not clear about the issue. Also is it only appearing in SILT? or on hardware?

@snktshrma
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@shubham-shahh I'll upload a video soon!
I've not tested this part yet on hardware. It's appearing in SITL

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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/report-an-error-when-rotorcraft-flys-warn-positiontargetglobal-failed-because-no-origin/29627/4

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@vooon vooon vooon approved these changes

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@snktshrma @vooon @rmackay9 @shubham-shahh @DronecodeBot