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ekf2: support heading external update from MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE

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bresch
2025-09-03 10:36:13 +02:00
committed by Mathieu Bresciani
parent eba0b99950
commit 82308da18d
10 changed files with 106 additions and 16 deletions
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src/modules/commander/Commander.cpp
+19
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@@ -462,6 +462,22 @@ int Commander::custom_command(int argc, char *argv[])
}
}
if (!strcmp(argv[0], "set_heading")) {
if (argc > 1) {
const float heading = atof(argv[1]);
const float heading_accuracy = NAN;
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE,
0.f, 0.f, heading, 0.f, 0.f, 0.f, heading_accuracy);
return (ret ? 0 : 1);
} else {
PX4_ERR("missing argument");
return 0;
}
}
if (!strcmp(argv[0], "poweroff")) {
bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN,
@@ -1521,6 +1537,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
case vehicle_command_s::VEHICLE_CMD_DO_GRIPPER:
case vehicle_command_s::VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE:
case vehicle_command_s::VEHICLE_CMD_REQUEST_CAMERA_INFORMATION:
case vehicle_command_s::VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE:
/* ignore commands that are handled by other parts of the system */
break;
@@ -3040,6 +3057,8 @@ The commander module contains the state machine for mode switching and failsafe
PRINT_MODULE_USAGE_COMMAND("set_ekf_origin");
PRINT_MODULE_USAGE_ARG("lat, lon, alt", "Origin Latitude, Longitude, Altitude", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("lat|lon|alt", "Origin latitude longitude altitude");
PRINT_MODULE_USAGE_COMMAND_DESCR("set_heading", "Set current heading");
PRINT_MODULE_USAGE_ARG("heading", "degrees from True North [0 360]", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("poweroff", "Power off board (if supported)");
#endif
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();