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
- all sources of optical flow publish sensor_optical_flow
- sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow
Co-authored-by: alexklimaj <alex@arkelectron.com>
rename follow_me_status to follow_target_status
enable follow_target_estimator on skynode
implement the responsiveness parameter:
The responsiveness parameter should behave similarly to the previous
follow-me implementation in navigator. The difference here is that
there are now two separate gains for position and velocity fusion.
The previous implemenation in navigator had no velocity fusion.
Allow follow-me to be flown without RC
SITL tests for follow-me flight task
This includes:
- Testing the setting for the follow-me angle
- Testing that streaming position only or position
and velocity measurements both work
- Testing that RC override works
Most of these tests are done with a simulated model
of a point object that moves on a straight line. So
nothing too spectacular. But it makes the test checks
much easier.
Since the estimator for the target actually checks new
measurements and compares them to old ones, I also added
random gausian noise to the measurements with a fixed seed
for deterministic randomness. So repeated runs produce
exactly the same results over and over.
Half of the angles are still missing in MAVSDK. Need to create
an upstream PR to add center left/right and rear left/right options.
These and the corresponding SITL tests need to be implemented
later.
sitl: Increase position tolerance during follow-me
Astro seems to barely exceed the current tolerance (4.3 !< 4.0)
causing CI to fail. The point of the CI test is not to check
the accuracy of the flight behaviour, but only the fact that the
drone is doing the expected thing. So the exact value of this
tolerance is not really important.
follow-me: gimbal control in follow-me
follow-me: create sub-routines in flight task class
follow-me: use ground-dist for emergency ascent
dist_bottom is only defined when a ground facing distance sensor exist.
It's therefore better to use dist_ground instead, which has the distance
to the home altitude if no distance sensor is available.
As a consequence it will only be possible to use follow-me in a valley
when the drone has a distance sensor.
follow-me: point gimbal to the ground in 2D mode
follow-me: another fuzzy msg handling for the estimator
follow-me: bugfix in acceleration saturation limit
follow-me: parameter for filter delay compensation
mantis: dont use flow for terrain estimation
follow-me: default responsiveness 0.5 -> 0.1
0.5 is way too jerky in real and simulated tests.
flight_task: clarify comments for bottom distance
follow-me: minor comment improvement
follow-me: [debug] log emergency_ascent
follow-me: [debug] log gimbal pitch
follow-me: [debug] status values for follow-me estimator
follow-me: setting for gimbal tracking mode
follow-me: release gimbal control at destruction
mavsdk: cosmetics 💄
- sensor_baro.msg use SI (pressure in Pascals)
- update all barometer drivers to publish directly and remove PX4Barometer helper
- introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
- commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
- create new sensors_status.msg to generalize sensor reporting
CA: fix saturation computation
Since the CA matrix is normalized, the same scale applied to be used when using the effectiveness matrix
MCRateControl: use control_allocator_status to get saturation info
- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
Only needed for Makefile-based builds:
gmake[3]: *** No rule to make target 'src/modules/flight_mode_manager/FlightTasks_generated.hpp', needed by 'events/px4.json'. Stop.
- sending protocol
- uorb event message & template methods for argument packing
- libevents submodule to send common events and handle json files
- cmake maintains a list of all (PX4) source files for the current build
(PX4 modules + libs), which is used to extract event metadata and
generate a json file
* msg: Add estinator information and warning events message (estimator_event_flags)
* ekf2: publish information and warning events
* logger: log estimator_event_flags
* update ecl submodule to latest
Co-authored-by: Daniel Agar <daniel@agar.ca>
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
- rename message wind_estimate to wind
- publish wind from currently used ekf instance (ekf2selector)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- add command to request a message
- add gimbal attitude message
mavlink_receiver handle GIMBAL_MANAGER_SET_ATTITUDE
first implementation of new vmount input MavlinkGimbalV2
- setup class
- decode gimbal_manager_set_attitude in ControlData
add gimbal information message
add gimbal manager information and vehicle command ack
mavlink messages: add stream for GIMBAL_MANAGER_INFORMATION
mavlink_receiver: handle GIMBAL_DEVICE_INFORMATION
remove mavlink cmd handling from vmount input MavlinkGimbalV2
complete gimbal manager:
- send out fake gimbal_device_information for dummy gimbals
- complete ROI handling with nudging
small fixes
fix typos
cleanup
- gimbal device information
- flags lock
- check sanity of string
add support for CMD_DO_GIMBAL_MANAGER_ATTITUDE
stream GimbalDeviceAttitudeStatus for dummy gimbals
- add uROB gimbal_attitude_status
- fill status in vmount output_rc for dummy gimbals not able to send the
status themselves
- stream mavlink GimbalDeviceAttitudeStatus
better handle the request for gimbal infomation request
clean up
bring gimbal information back on vmount init
add new gimbal message to mavlink normal stream
fix publication of gimbal device information
rename gimbal_attitude_status to gimbal_device_attitude_status
stream gimbal_manager_status at 5Hz
mavlink: send information only on request
Sending the information message once on request should now work and we
don't need to keep publishing it.
mavlink: debug output for now
make sure to copy over control data
mavlink: add missing copyright header, pragma once
mavlink: address review comments
mavlink: handle stream not updated
Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.
mavlink: remove outdated comment
vmount: add option for yaw stabilization only
The stabilize flag is used for gimbals which do not have an internal IMU
and need the autopilot's attitude in order to do stabilization. These
gimbals are probably quite rare by now but it makes sense to keep the
functionality given it can e.g. be used by simple servo gimbals for
sensors other than highres cameras.
The stabilize flag can also be re-used for gimbals which are capable of
stabilizing pitch and roll but not absolute yaw (e.g. locked to North).
For such gimbals we can now set the param MNT_DO_STAB to 2.
We still support configuring which axes are stabilized by the
MAVLink command DO_MOUNT_CONFIGURE, however, this is generally not
recommended anymore.
vmount: fix incorrect check for bit flag
mavlink_messages: remove debug message
Signed-off-by: Claudio Micheli <claudio@auterion.com>
use device id
remove debug print
gimbal attitude fix mistake
clang tidy fix
split:
- gimbal_attitude -> gimbal_device_set_attitude, gimbal_manager_set_attitude
- gimbal_information -> gimbal_device_informatio, gimbal_manager_information
add gimbal protocol messages to rtps msg ids
support set attitude for gimbal directly speaking mavlink
clean up gimbal urob messages
vmount: address a few small review comments
vmount: split output into v1 and v2 protocol
This way we can continue to support the MAVLink v1 protocol. Also, we
don't send the old vehicle commands when actually using the new v2
protocol.
vmount: config via ctor instead of duplicate param
vmount: use loop to poll all topics
Otherwise we might give up too soon and miss some data, or run too fast
based on commands that have nothing to do with the gimbal.
typhoon_h480: use gimbal v2 protocol, use yaw stab
Let's by default use the v2 protocol with typhoon_h480 and enable yaw
lock mode by stabilizing yaw.
- new heater_status logging message
- run continously at low rate until configured sensor is found
- fix px4io fd bugs (fd open/close/ioctl must be same thread)
