AP_DDS: External Control enable #28429
Open
+68
−7
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
@Ryanf55 what is the best way to make it testable? |
I'd do something like a mock flyaway recovery.
|
Ryanf55
reviewed
Oct 19, 2024
There was a problem hiding this comment.
I've replicated your behavior, looks great! I think this is a nice clean way for a GCS to take authority from a companion computer.
Running SITL
ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
mavproxy
param set RC6_OPTION 181
reboot
Then use the CLI to test with joystick.
Ryanf55
reviewed
Oct 19, 2024
tizianofiorenzani
force-pushed
the
wips/servos
branch
from
259383a
to
d3f0cf6
Compare
tizianofiorenzani
force-pushed
the
wips/servos
branch
2 times, most recently
from
d3f0cf6
to
42c31a0
Compare
|
Could this be done at the top RC_Channels level rather than down in plane and copter? Then it should work for rover too. |
tridge
requested changes
Nov 4, 2024
tridge
requested changes
Nov 4, 2024
Ryanf55
reviewed
Nov 4, 2024
Ryanf55
reviewed
Nov 4, 2024
tizianofiorenzani
force-pushed
the
wips/servos
branch
from
42c31a0
to
630deda
Compare
|
Suggestions have been applied, rebased and tested. |
tizianofiorenzani
force-pushed
the
wips/servos
branch
from
630deda
to
1ac2319
Compare
tizianofiorenzani
force-pushed
the
wips/servos
branch
from
1ac2319
to
000b7f6
Compare
Ryanf55
reviewed
Nov 5, 2024
| @@ -3,8 +3,8 @@ | |||
| #include <AP_HAL/AP_HAL_Boards.h> | |||
| #include <AP_Networking/AP_Networking_Config.h> | |||
|
|
|||
| #ifndef AP_DDS_ENABLED | |||
| #define AP_DDS_ENABLED 1 | |||
| #ifndef AP_EXTERNAL_CONTROL_ENABLED | |||
There was a problem hiding this comment.
This is not correct, please revert
Ryanf55
reviewed
Nov 5, 2024
| @@ -749,8 +757,13 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u | |||
| break; | |||
| } | |||
|
|
|||
| GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for %sing received", msg_prefix, arm_motors_request.arm ? "arm" : "disarm"); | |||
| arm_motors_response.result = arm_motors_request.arm ? AP::arming().arm(AP_Arming::Method::DDS) : AP::arming().disarm(AP_Arming::Method::DDS); | |||
| if (external_control->is_enabled()) { | |||
There was a problem hiding this comment.
Can we instead put an arm function into the external control library, and check is_enabled there, then call AP::arming().arm there?
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
User Story
As an operator, I want to be able to completely cut off any external control from the DDS interface. This functionality is especially helpful during debugging tests, when a quick reaction is of utmost importance.
I would like to be able to assign a switch to Enable/Disable external control, as well as the ability for a script or an external GCS to trigger External Control.
What Changed
false.DDS_EXTERNAL_CONTROL = 181which allows a channel to enable External control when HIGH.Test
ros2 topic pub /ap/joy sensor_msgs/msg/Joy "{axes: [0.0, 0.0, 0.0, 0.0, .nan, 1]}"Command rejected: External Control Enabled.ros2 topic pub /ap/joy sensor_msgs/msg/Joy "{axes: [0.0, 0.0, .nan, .nan, .nan, -1]}"ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "arm: true"