This feature allows user to use a Gripper type pacakge delivery
mechanism on a drone to trigger the delivery during a mission via the
mission item `DO_GRIPPER`.
This is a minimal change that is intended to have simplest pacakge
delivery feature on PX4, however the future scope would extend this
feature out of Navigator, and rather move towards a federated PX4
(flight-mode flexibility) architecture. But until then, this will serve
the purpose.
Update Tools/sitl_gazebo submodule to remove sdf file overwrite error
- There was an error happening due to .sdf file being overwritten, it
was caused by a wrongfully added. sdf file.
- This update pulls in the PR commit: https://github.com/Auterion/sitl_gazebo/pull/147
Initial cut on supporing PAYLOAD_PLACE mission item
Tidy and comment on navigation.h to clarify mission item definition
- Convert vehicle command ack subscription data type to
SubscriptionData, to not care about having a dedicated struct for
copying the latest data
- Tidy and comment on navigation.h to clarify the definition of
mission_item_s, which is confusing as it is an intergration of MAVLink
Standard into PX4's internal Mission Item structure
Rename mission_block's mission item reached function & cleanup navigator
- Isolated Handle Vehicle Commands function inside the Navigator
- Rename mission_block's mission item reached function to 'reached or
completed', as the navigation command can also be an action (e.g.
DO_SET_SERVO, which doesn't make sense to refer to as 'reached' when we
have successfully done executed the command)
Include MAVLink PR commit to include payload_drop message
More changes to add payload_drop MAVLink message support
- Comitting for testing purposes
Add mission item payload_drop to vehicle command payload drop link
- Now with a mission item with the nav_cmd set to 'payload drop', the
appropriate 'payload drop' vehicle command will be issued
Make Payload drop executable via Mission Plan
Implement payload_drop module to simulate payload delivery
- Simple module that acknowledges the payload drop vehicle command after
certain time, to simulate a successful delivery
Additional changes - payload drop module not working yet
- Need to do more thread stuff to make it work :(
Fix Payload Drop enum mismatch in vehicle_command enums
- First functional Payload Drop Implementation MVP
- Simple Ack & resuming mission from Navigator tested successfully
Hold the position while executing payload drop mission item
- Still the position hold is not solid, maybe I am missing something in
the position setpoint part and all the internal implications of
Navigator :(
Add DO_WINCH command support
Some fixes after rebase on develop branch
- Some missed brackets
- Some comment edits, etc
Add DO_WINCH command support
- Still has a problem of flying away from the waypoint while the
DO_WINCH is being executed, probably position setpoint related stuff :(
Apply braking of the vehicle for DO_WINCH command
- Copies the behavior of NAV_CMD_DELAY, which executes a smooth, braking
behavior when executing the delay because of the braking condition in
`set_mission_items` function
- This will not apply to Fixed wings
- The payload deploy getting triggered may be too early, as right now as
soon as the vehicle approaches the waypoint within the acceptance
threshold, the payload gets deployed
Add DO_GRIPPER support
Implement Gripper actual Hardware triggering support
- Currently not working, possibly in the mixer there's a bug
- Implemented the publishing of actuator_controls_1 uORB topic
- Implemented the test command for the payload_drop module, to test the
grpiper functionality
- Edited px4board file to include the payload_drop module
- Added Holybro X500 V2 airframe file, to enable testing on X500 V2
- Created new Quad X Payload Delivery mixer, which maps the actuator
controls 1 topic's data into the MAIN pin 5 output
Make Payload Drop Gripper Work
- Initialization of the Gripper position to CLOSED on Constructor of the
payload_drop module
- Setting the OPEN and CLOSED value to the appropriate actuator controls
input
Set vehicle_command_ack message's timestamp correctly
- By not setting the timestamp, the ack commands were not correctly
graphed in PlotJuggler!
Rename payload drop module to payload deliverer
- I think it's a more complex name (harder to type), but more generic
Add Gripper class (WIP)
Add Gripper class functionalities
- Add gripper uORB message
- Add gripper state machine
Use Gripper class as main interface in payload_deliverer
- Utilizes Gripper class functions for doing Gripper functionality
Remove mixer based package delivery trigger logic
- Remove custom mixer files that mapped actuator controls to outputs
statically
Additional improvements of the payload_deliverer
Fix payload_deliverer module not starting
- _task_id wasn't geting set appropriately in task_spawn function, which
led to runtime failure
Add Gripper Function to mixer_module
- Still not showing up as function mapping in QGC, needs fix
Add parameters to control gripper behavior
- Now user can enable / disable gripper
- Also select which type of gripper to use
Applying review from nuno
Remove timeout fetching from mission item and use gripper's timeout
- Previously, it was planned to use a custom DO_GRIPPER and DO_WINCH
MAVLink message definitions with information on timeout, but since now
we are using original message definition, only relevant timeout
information is defined in the payload_deliverer class
- This change brings in the timeout parameter to the Navigator, which
then sets the timeout in the mission_block class level, which then
processes the timeout logic
Make payload deployment work for Allmend test :P
Support gripper open/close test commands in payload_deliverer
Move enum definition for GRIPPER_ACTION to vehicle_command.msg
Remove double call for ` ${R}etc/init.d/rc.vehicle_setup`
- Was introduced during the rebase
- Was causing module already running & uORB topic can't be advertised
errors
Fix format via `make format` command
Modify S500 airframe file to use for control allocation usage
- Added Control allocation related parameters as default to not have it
reset every time the airframe is selected
Implement mission specific payload deploy timeout and more changes
Switch payload_deliverer to run on work queue
Remove unnecessary files
- Airframe changes from enabling control allocation are removed
Address review comments
- Remove debug messages
- Remove unnecessary or verbose comments & code
- Properly call parameter_update() function
Switch payload_deliverer to scheduled interval work item & refactor
- Switch to Schedeuled on Interval Work Item, as previous vehicle
command subscription callback based behavior led to vehicle comamnd ack
not being sent accordingly (since the Run() wouldn't be called unless
there's a new vehicle command), leading to ack command not being sent
out
- Also, old vehicle commands were getting fetched due to the
subscription callback as well, which was removed with this patch
- Fix the wrong population of floating point param2 field of vehicle
command by int8_t type gripper action by creating dedicated function
- Refactor and add comments to increase readability
Add gripper::grabbing() method and handle this in parameter update
- Previously, the intermediate state 'grabbing' was not considered, and
when the parameter update was called after the first initialization of
the gripper, the grab() function was being called again, which would
produce unnecessary duplicate vehicle command.
- Also replaced direct .grab() access to sending vehicle comamnd, which
unifies the gripper actuation mechanism through vehicle commands.
Navigator: Change SubscriptionData to Subscription to reduce memory usage
- Also removed unused vehicle command ack sub
PayloadDeliverer: Remove unnecessary changes & Bring back vehicle_command sub cb
Make Power Off tune not interruptable
This solves the case of Low Battery warning tune overriding the power
off tune, as now the Power off tune is not interruptable by any other
tune unless override flag is specified
commander_helper: resolve "redundant boolean literal in ternary expression result"
- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
from 300 ms to 60 seconds, to give enough time for the user to configure
the vehicle in the mean time.
This is needed especially when the battery cell count setting is wrong
(when it should be 3, but set to 4 for example), since then whenever you
boot the vehicle, it will shutdown after 300 ms, which leaves the user
puzzled as to exactly what's happening. And it also prevented the user
from changing the Parameter since it's shutting down so quickly.
60 second window is intended to be a reasonable time that will allow the
user to figure out what's going on (via checking the battery level on
QGC, etc) but also not deep discharge the battery to a dangerous level.
Follow me : tidied second order filter implementation
Added velocity filtered info to uORB follow target status message, and rebase to potaito/new-follow-me-task
FollowMe : Rebasing and missing definition fixes on target position second order filter
Follow Me : Remove Alpha filter delay compensation code, since second order filter is used for pose filtering now
Followme : Remove unused target pose estimation update function
Follow Target : Added Target orientation estimation logic
Follow Target : Replaced offset vector based setpoint to rate controlled orbital angle control
Follow Target : Bug fixes and first working version of rate based control logic, still buggy
Follow Target : Added target orientation, follow angle, orbit angle value into follow_target_status uORB message for debugging
Follow Target : Fix orbit angle step calculation typo bug
Follow Target : Few more fixes
Follow Target : Few fixes and follow angle value logging bug fix
Follow Target : Added lowpass alpha filter for yaw setpoint filtering
Follow Target : Remove unused filter delay compensation param
Follow Target : Add Yaw setpoint filter initialization logic and bufix for when unwrap had an input of NAN angle value
Follow Target : Add Yaw setpoint filtering enabler parameter
Follow Target : Change Target Velocity Deadzone to 1.0 m/s, to accomodate walking speed of 1.5 m/s
Follow Target : Add Orbit Tangential Velocity calculation for velocity setpoint and logging uORB topics
Follow target : Fix indentation in yaw setpoint filtering logic
Follow Target : Fix Follow Target Estimator timeout logic bug that was making the 2nd order pose filter reset to raw value every loop
Follow Target : Remove debug printf statement for target pose filter reset check
Follow Target : Add pose filter natural frequency parameter for filter testing
Follow Target : Make target following side param selectable and add target pose filter natural frequency param description
Follow Target : Add Terrain following altitude mode and make 2D altitude mode keep altitude relative to the home position, instead of raw local position origin
Follow Target : Log follow target estimator & status at full rate for filter characteristics test
Follow Target : Implementing RC control user input for Follow Target control
Follow Target : edit to conform to updated unwrap_pi function
Follow Target : Make follow angle, distance and height RC command input configurable
Follow Target : Make Follow Target not interruptable by moving joystick in Commander
Follow Target : reconfigure yaw, pitch and roll for better user experience in RC adjusting configurations, and add angular rate limit taking target distance into account
Follow Target : Change RC channels used for adjustments and re-order header file for clarity
Follow Target : Fix Parameters custom parent macro, since using DEFINE_PARAMETERS alone misses the parameter updates of the parent class, FlightTask
Follow Target : Fix Orbit Tangential speed actually being angular rate bug, which was causing a phenomenon of drnoe getting 'dragged' towards the target velocity direction
Follow Target : Final tidying and refactoring for master merge - step 1
Add more comments on header file
Follow Target : tidy, remove unnecessary debug uORB elements from follow_target_status message
Follow Target : Turn off Yaw filtering by default
Follow Target : Tidy maximum orbital velocity calculation
Follow Target : add yaw setpoint filter time constant parameter for testing and fix NAV_FT_HT title
Follow Target : Add RC adjustment window logic to prevent drone not catching up the change of follow target parameters
Follow Target : fixes
Follow Target: PR tidy few edits remove, and update comments
Follow Target : apply comments and reviews
Follow Target : Edit according to review comments part 2
Follow Target : Split RC adjustment code and other refactors
- Splitted the RC adjustment into follow angle, height and distance
- Added Parameter change detection to reset the follow properties
- Added comments and removed yaw setpoint filter enabler logic
Follow Target : Modify orbit angle error bufferzone bug that was causing excessive velocity setpoints when setpoint catched up with raw orbit setpoint
Follow Target : Remove buffer zone velocity ramp down logic and add acceleration and rate limited Trajectory generation library for orbit angle and velocity setpoint
Follow Target : Remove internally tracked data from local scope function's parameters to simplify code
Follow Target : Fix to track unwrapped orbit angle, with no wrapping
Follow Target : Apply user adjustment deadzone to reduce sensitivity
Follow Target : Apply suggestions from PR review round 2 by @potaito
Revert submodule update changes, fall back to potaito/new-followme-task
Follow Target : [Debug] Expose max vel and acceleration settings as parameters, instead of using Multicopter Position Controller
's settings
Follow Target : Use matrix::isEqualF() function to compare floats
Follow Target : Add Acceleration feedback enabler parameter and Velocity ramp in initial commit for overshoot phenomenon improvement
Follow Target : Implement Velocity feed forward limit and debug logging values
Follow Target : Apply Velocity Ramp-in for Acceleration as well & Apply it to total velocity setpoint and not just orbit tangential velocity component
Follow Target : Don't set Acceleration setpoint if not commanded
Follow Target : Use Jerk limited orbit angle control. Add orbit angle tracking related uORB values"
Follow Target : Add Orbit Angle Setpoint Rate Tracking filter, to take into consideration for calculating velocity setpoint for trajectory generator for orbit angle
Revert "Follow Target : Add Orbit Angle Setpoint Rate Tracking filter, to take into consideration for calculating velocity setpoint for trajectory generator for orbit angle"
This reverts commit a3f48ac7652adb70baf3a2fed3ea34d77cbd6a70.
Follow Target : Take Unfiltered target velocity into acount for target course calculation to fix overshoot orbit angle 180 deg flip problem
Follow Target : Remove Yaw Filter since it doesn't make a big difference in yaw jitterness
Follow Target : Remove velocity ramp in control & remove debug values from follow_target_status.msg
Follow Target : Tidy Follow Target Status message logging code
Follow Target : Remove jerk and acceleration settings from Follow Target orbit trajectory generation
Follow Target : Change PublicationMulti into Publication, since topics published are single instances
Follow Target : Edit comments to reflect changes in the final revision of Follow Target
Follow Target : Apply incorrectly merged conflicts during rebase & update Sticks function usage for getThrottled()
Follow Target : Apply final review comments before merge into Alessandro's PR
Apply further changes from the PR review, like units
Use RC Sticks' Expo() function for user adjustments to decrease sensitivity around the center (0 value)
Update Function styles to lowerCamelCase
And make functions const & return the params, rather than modifying them
internally via pointer / reference
Specify kFollowPerspective enum as uint8_t, so that it can't be set to negative value when converted from the parameter 'FLW_TGT_FP'
Fix bug in updateParams() to reset internally tracked params if they actually changed.
Remove unnecessary comments
Fix format of the Follow Target code
Fix Follow Perspective Param metadata
follow-me: use new trajectory_setpoint msg
Convert FollowPerspective enum into a Follow Angle float value
1. Increases flexibility in user's side, to set any arbitrary follow
angle [deg]
2. Removes the need to have a dedicated Enum, which can be a hassle to
make it match MAVSDK's side
3. A step in the direction of adding a proper Follow Mode (Perspective)
mode support, where we can support kite mode (drone behaves as if it is
hovering & getting dragged by the target with a leash) or a constant
orbit angle mode (Drone always on the East / North / etc. side, for
cinematic shots)
Continue fixing Follow Target MAVSDK code to match MAVSDK changes
- Support Follow Angle configuration instead of Follow Direction
- Change follow position tolerance logic to use the follow angle
*Still work in progress!
Update Follow Me MAVSDK Test Code to match MAVSDK v2 spec
- Add RC Adjustment Test case
- Change follow direction logic to follow angle based logic completely
- Cleanup on variable names and comment on code
follow-me: disable SITL test
Need to update MAVSDK with the following PR:
https://github.com/mavlink/MAVSDK/pull/1770
SITL is failing now because the follow-me
perspectives are no longer defined the
same way in MAVSDK and in the flight task.
update copyright year
follow-me: mark uORB topics optional
Apply review comments
more copyright years
follow-me sitl test: simpler "state machine"
flight_mode_manager: exclude AutoFollowTarget and Orbit on flash contrained boards
Remove unnecessary follow_target_status message properties
- As it eats up FLASH and consumes uLog bandwidth
The safetyButtonHandler() reports that the safety statatus
changed on the first loop iteration when safety is disabled which makes
sense to inform the system that safety is off but the tune for the user
should not be played because it interrupts the startup tune.
We use lockdown to prevent outputs like motors and servos from being
active in HITL simulation. This means that we can't treat the lockdown
flag as a flight_terminated, otherwise we can't arm in HITL at all.
