Check system type for SET_ATTITUDE_TARGET attitude publising #13141

irsdkv · 2019-10-09T12:23:19Z

Check if system type is VTOL and publish attitude to proper uORB topic

Describe problem solved by the proposed pull request
Attitude target publish in wrong uORB topic in case of VTOL system type/

Test data / coverage
Tested on VTOL UAV and MAVSDK.

Describe your preferred solution
Check is system type is VTOL (VTOL system types from is_vtol()).

irsdkv · 2019-10-09T12:33:08Z

This is a potential duplicate of #13122

Jaeyoung-Lim

IMO this should be handled in the mc_att_control and fw_att_control modules rather than the mavlink receiver.

src/modules/mavlink/mavlink_receiver.cpp

src/modules/mavlink/mavlink_receiver.h

jlecoeur

I think this is almost good, except:

the attitude setpoint will no longer be sent if thrust ignore flag is set, I made code recommendation for this but did not test.
rates setpoint should be handled the same way

src/modules/mavlink/mavlink_receiver.cpp

Jaeyoung-Lim · 2019-10-10T08:03:42Z

@irsdkv Just curious, what is the main usecase for sending offboard attitude setpoints? Do you also want to control fixed wing with such setpoint?

irsdkv · 2019-10-10T08:11:50Z

Thanks, @jlecoeur

irsdkv · 2019-10-10T08:14:11Z

@irsdkv Just curious, what is the main usecase for sending offboard attitude setpoints? Do you also want to control fixed wing with such setpoint?

At this time we use this only for MC mode. But in future it is most likely that we will test in FW mode also.
At least in Gazebo HITL Simulation.

Jaeyoung-Lim · 2019-10-10T08:20:46Z

@irsdkv My question is more on the decision on selecting attitude setpoints for VTOL control. Is there a specific reason? why not use high level setpoints such as position?

irsdkv · 2019-10-10T08:28:39Z

@Jaeyoung-Lim oh, I understand now. This needed in two cases for us:

Testing mechanics of our VTOL model
Testing our control algorithms

jlecoeur

Looks good to me, it should be flight tested before merging.

jlecoeur · 2019-10-14T14:09:39Z

@ThomasRigi can you please check that this solves your issue?

src/modules/mavlink/mavlink_receiver.cpp

ThomasRigi · 2019-10-14T15:25:04Z

@ThomasRigi can you please check that this solves your issue?

It works in SITL (only tested in MC mode), not in HIL. In HIL the attitude setpoint remains the last one from before set_attitude() is called (in my case set from takeoff or hold). I still have no idea why this happens.

Can someone else test the HIL simulation? Maybe something is wrong with my setup (even though take off command and many other things (offboard NED or set_actuator_control(), for example) work). I'm using a Pixhawk 4 which has never been connected to a real drone before.

(Edit : for as long as it flies in the real world I don't care too much about HIL, but it's still weird)

jlecoeur · 2019-10-14T15:30:18Z

Thanks @ThomasRigi , is it working in HIL with a multirotor?

ThomasRigi · 2019-10-14T16:06:39Z

@jlecoeur yes, it works with HIL Quadcopter X

jlecoeur · 2019-10-14T16:18:24Z

Ok then this is not directly related, can you open a separate issue to track this @ThomasRigi ?

Co-Authored-By: Julien Lecoeur <jlecoeur@users.noreply.github.com>

TSC21

LGTM

TSC21 · 2019-10-26T12:30:14Z

[2019-10-26T11:42:14.960Z] /opt/gcc/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: px4_fmu-v2_fixedwing.elf section `.data' will not fit in region `flash'
[2019-10-26T11:42:14.960Z] /opt/gcc/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: region `flash' overflowed by 64 bytes

Really?! 64 bytes?... @irsdkv is there some gymnastic you can do here to reduce the footprint?

irsdkv · 2019-10-26T12:54:08Z

Hm. Lets see what we can do.

jlecoeur · 2019-10-26T13:30:06Z

I suggest to remove a few drivers from px4_fmu-v2_fixedwing

https://github.com/PX4/Firmware/blob/05b2abe57a06dd32ccb54e32a5bf4a78ffa406fe/boards/px4/fmu-v2/fixedwing.cmake#L28

For example distance sensor drivers are built for v2_fixedwing but not v2_default

irsdkv · 2019-10-26T13:42:25Z

[2019-10-26T13:39:42.443Z] region `flash' overflowed by 8 bytes

jlecoeur · 2019-10-26T14:21:27Z

It should fit now 🤞

jlecoeur · 2019-10-26T17:44:50Z

thanks for all the updates @irsdkv 👍

irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch 2 times, most recently from c92d8b8 to 2949452 Compare October 9, 2019 13:32

irsdkv mentioned this pull request Oct 9, 2019

Mavlink receiver SET_ATTITUDE_TARGET filling for VTOLs #13140

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julianoes requested a review from Jaeyoung-Lim October 9, 2019 13:50

Jaeyoung-Lim requested changes Oct 9, 2019

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ThomasRigi mentioned this pull request Oct 9, 2019

[VTOL] Offboard attitude control not working #13092

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irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch from 918eb8e to 7ed8f8c Compare October 9, 2019 15:04

jlecoeur requested changes Oct 10, 2019

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jlecoeur added Admin: Enhancement (improvement) 💡 Mode: Offboard Offboard mode control Hybrid VTOL 🛩️🚁 Multirotor + Fixedwing! labels Oct 10, 2019

irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch from 47a82a7 to d8b3e77 Compare October 10, 2019 08:10

irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch from d8b3e77 to 0c40906 Compare October 10, 2019 08:24

weekly-digest bot mentioned this pull request Oct 13, 2019

Weekly Digest (6 October, 2019 - 13 October, 2019) #13171

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irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch from d6b5ada to 0c5ff5b Compare October 14, 2019 14:05

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irsdkv and others added 3 commits October 17, 2019 20:26

Apply suggestions from code review

ab5ee98

Co-Authored-By: Julien Lecoeur <jlecoeur@users.noreply.github.com>

set_attitude_target: set rate thrust according to VTOL mode

bc80b79

set_attitude_target: get vehicle_status every time.

4dda73a

irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch from 4dfb58a to 4dda73a Compare October 17, 2019 17:27

jlecoeur previously approved these changes Oct 18, 2019

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jlecoeur requested a review from Jaeyoung-Lim October 18, 2019 06:05

weekly-digest bot mentioned this pull request Oct 20, 2019

Weekly Digest (13 October, 2019 - 20 October, 2019) #13236

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Merge branch 'master' into pr-check_vtol_in_set_attitude_target

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TSC21 previously approved these changes Oct 26, 2019

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TSC21 added this to the Release v1.10.0 milestone Oct 26, 2019

TSC21 requested a review from dagar October 26, 2019 12:31

irsdkv dismissed stale reviews from TSC21 and jlecoeur via a6ce730 October 26, 2019 12:53

irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch from a6ce730 to 05b2abe Compare October 26, 2019 13:07

irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch from 05b2abe to 52e8655 Compare October 26, 2019 13:30

irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch from 52e8655 to 6e608a1 Compare October 26, 2019 13:49

mavlink_receiver: Fit in 'flash' region

66d5786

irsdkv force-pushed the pr-check_vtol_in_set_attitude_target branch from 6e608a1 to 66d5786 Compare October 26, 2019 14:04

Merge branch 'master' into pr-check_vtol_in_set_attitude_target

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jlecoeur approved these changes Oct 26, 2019

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TSC21 merged commit 0326a8e into PX4:master Oct 26, 2019

irsdkv deleted the pr-check_vtol_in_set_attitude_target branch October 26, 2019 18:00

RicardoM17 mentioned this pull request Oct 29, 2019

VTOL Offboard attitude setpoints getting reset/overwritten #13310

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carmelodfr mentioned this pull request Nov 5, 2020

fixed bug when in VTOL offboard. (see #13141) #16128

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Check system type for SET_ATTITUDE_TARGET attitude publising #13141

Check system type for SET_ATTITUDE_TARGET attitude publising #13141

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Check system type for SET_ATTITUDE_TARGET attitude publising #13141

Check system type for SET_ATTITUDE_TARGET attitude publising #13141

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