Add `AttitudeAngularVelocityBody`, `AttitudeAngularVelocityBody` and `ActuatorOutputStatus` to telemetry #832

irsdkv · 2019-08-08T14:33:19Z

Added:

AttitudeAngularVelocityBody: current angular speed from ATTITUDE_QUATERNION message.
ActuatorControlTarget: current vehicle attitude and body angular rates.
ActuatorOutputStatus: current raw values of the actuator outputs.

Related PR in proto: mavlink/MAVSDK-Proto#97

julianoes · 2019-08-08T14:36:24Z

Thanks! I'll review it but it might not happen before Monday.

JonasVautherin · 2019-08-09T10:50:34Z

src/backend/test/telemetry_service_impl_test.cpp

+    void checkSendsActuatorOutputStatusEvents(
+        const std::vector<ActuatorOutputStatus>& actuator_output_status_events) const;
+    ActuatorOutputStatus
+    createActuatorOutputStatus(const uint8_t group, const float* controls) const;


Does it have to be pointer? What about e.g. a const vector&?

Agree. Will do this

Changed createActuatorControlTarget in the same way.

julianoes

Nice, looks good.

JonasVautherin · 2019-08-14T11:01:26Z

Let's now update the proto submodule and sync with develop, and I think we can merge 👍

Added: 1. AttitudeAngularSpeed: current angular speed from ATTITUDE_QUATERNION message. See https://mavlink.io/en/messages/common.html#ATTITUDE_QUATERNION 2. ActuatorControlTarget: current vehicle attitude and body angular rates. See https://mavlink.io/en/messages/common.html#SET_ACTUATOR_CONTROL_TARGET 3. ActuatorOutputStatus: current raw values of the actuator outputs. See https://mavlink.io/en/messages/common.html#ACTUATOR_OUTPUT_STATUS

1. Updated proto submodule rev, 2. Updated generated grpc modules, 3. Fixed 'proto_dir' in 'generate_from_protos.sh' tool.

julianoes · 2019-08-14T14:48:28Z

../../../../../src/plugins/telemetry/telemetry_impl.cpp: In member function 'void mavsdk::TelemetryImpl::process_actuator_control_target(const mavlink_message_t&)':

../../../../../src/plugins/telemetry/telemetry_impl.cpp:732:68: error: taking address of packed member of '__mavlink_actuator_control_target_t' may result in an unaligned pointer value [-Werror=address-of-packed-member]

  732 |         actuator_control_target.group_mlx, actuator_control_target.controls);

      |                                            ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~

../../../../../src/plugins/telemetry/telemetry_impl.cpp: In member function 'void mavsdk::TelemetryImpl::process_actuator_output_status(const mavlink_message_t&)':

../../../../../src/plugins/telemetry/telemetry_impl.cpp:746:86: error: taking address of packed member of '__mavlink_actuator_output_status_t' may result in an unaligned pointer value [-Werror=address-of-packed-member]

  746 |     set_actuator_output_status(actuator_output_status.active, actuator_output_status.actuator);

      |                                                               ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~

🤔

irsdkv · 2019-08-14T14:54:06Z

Im also think about that. But at this moment I suppose that this is ok, because of set_actuator_output_status is private method.
Only alternate way is using std::vector, but I think that this is redundant work for the CPU (sorry, I was an embedded developer :-) )
Have you one more idea or you think that "vector-way" is ok in fact?

irsdkv · 2019-08-14T15:04:52Z

Also std::array can be used

julianoes · 2019-08-14T16:04:06Z

Also std::array can be used

Sounds good.

julianoes

Looks good, thanks.

julianoes · 2019-08-15T07:01:59Z

Generating code for file plugin_bas/home/user/DronecodeSDK/tools/docs/install/include/mavsdk/plugins/telemetry/telemetry.h:568: warning: The following parameters of mavsdk::Telemetry::set_rate_actuator_control_target_async(double rate_hz, result_callback_t callback) are not documented:
  parameter 'callback'
/home/user/DronecodeSDK/tools/docs/install/include/mavsdk/plugins/telemetry/telemetry.h:578: warning: The following parameters of mavsdk::Telemetry::set_rate_actuator_output_status_async(double rate_hz, result_callback_t callback) are not documented:
  parameter 'callback'

julianoes · 2019-08-15T07:02:53Z

And:

../../../../../src/plugins/telemetry/telemetry_impl.cpp: In member function 'void mavsdk::TelemetryImpl::process_actuator_control_target(const mavlink_message_t&)':
../../../../../src/plugins/telemetry/telemetry_impl.cpp:731:91: error: taking address of packed member of '__mavlink_actuator_control_target_t' may result in an unaligned pointer value [-Werror=address-of-packed-member]
  731 |     auto controls = reinterpret_cast<const std::array<float, 8>&>(actuator_control_target.controls);
      |                                                                   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
../../../../../src/plugins/telemetry/telemetry_impl.cpp: In member function 'void mavsdk::TelemetryImpl::process_actuator_output_status(const mavlink_message_t&)':
../../../../../src/plugins/telemetry/telemetry_impl.cpp:748:79: error: taking address of packed member of '__mavlink_actuator_output_status_t' may result in an unaligned pointer value [-Werror=address-of-packed-member]
  748 |         reinterpret_cast<const std::array<float, 32>&>(actuator_output_status.actuator);
      |                                                        ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
cc1plus: all warnings being treated as errors

And doc fix.

irsdkv · 2019-08-19T12:14:06Z

@julianoes can you please merge PR if it possible?
Or may be I need to do anything else for it?

tools/generate_from_protos.sh

julianoes · 2019-08-20T11:06:17Z

Thanks @irsdkv!

irsdkv mentioned this pull request Aug 8, 2019

Added telemetry requests. mavlink/MAVSDK-Proto#97

Merged

julianoes requested review from JonasVautherin and julianoes August 8, 2019 14:35

JonasVautherin reviewed Aug 9, 2019

View reviewed changes

julianoes previously approved these changes Aug 12, 2019

View reviewed changes

irsdkv added 3 commits August 14, 2019 14:19

Arrays to vectors in tests

26b81fe

AngularSpeed -> AngularVelocityBody

6351b11

irsdkv dismissed julianoes’s stale review via 45c5134 August 14, 2019 11:20

irsdkv force-pushed the pr-add_subscriptions branch 2 times, most recently from 45c5134 to 02cddce Compare August 14, 2019 12:36

Proto submodule updated to support new subscriptions

ce857a1

1. Updated proto submodule rev, 2. Updated generated grpc modules, 3. Fixed 'proto_dir' in 'generate_from_protos.sh' tool.

irsdkv force-pushed the pr-add_subscriptions branch from 02cddce to ce857a1 Compare August 14, 2019 12:39

julianoes previously approved these changes Aug 15, 2019

View reviewed changes

irsdkv dismissed julianoes’s stale review via 6041833 August 15, 2019 10:08

irsdkv force-pushed the pr-add_subscriptions branch from 807b9f3 to 6041833 Compare August 15, 2019 10:08

C-style array -> std::array

dd7f64c

And doc fix.

irsdkv force-pushed the pr-add_subscriptions branch 2 times, most recently from ca7b4bf to b1bc91a Compare August 19, 2019 08:48

Merge upstream develop branch

5c7d529

irsdkv force-pushed the pr-add_subscriptions branch from b1bc91a to 5c7d529 Compare August 19, 2019 08:49

julianoes reviewed Aug 20, 2019

View reviewed changes

tools/generate_from_protos.sh Show resolved Hide resolved

julianoes approved these changes Aug 20, 2019

View reviewed changes

julianoes merged commit 2f48667 into mavlink:develop Aug 20, 2019

irsdkv deleted the pr-add_subscriptions branch August 21, 2019 09:27

JonasVautherin added the feature label Oct 4, 2019

JonasVautherin changed the title ~~Added telemetry subscriptions.~~ Add AttitudeAngularVelocityBody, AttitudeAngularVelocityBody and ActuatorOutputStatus to telemetry Oct 4, 2019

irsdkv mentioned this pull request Oct 9, 2019

ACTUATOR_OUTPUT_STATUS MAVLink stream for ESCs PX4/PX4-Autopilot#13145

Closed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Add `AttitudeAngularVelocityBody`, `AttitudeAngularVelocityBody` and `ActuatorOutputStatus` to telemetry #832

Add `AttitudeAngularVelocityBody`, `AttitudeAngularVelocityBody` and `ActuatorOutputStatus` to telemetry #832

irsdkv commented Aug 8, 2019 •

edited

Loading

julianoes commented Aug 8, 2019

JonasVautherin Aug 9, 2019

irsdkv Aug 9, 2019

irsdkv Aug 9, 2019

julianoes left a comment

JonasVautherin commented Aug 14, 2019

julianoes commented Aug 14, 2019

irsdkv commented Aug 14, 2019 •

edited

Loading

irsdkv commented Aug 14, 2019 •

edited

Loading

julianoes commented Aug 14, 2019

julianoes left a comment

julianoes commented Aug 15, 2019

julianoes commented Aug 15, 2019

irsdkv commented Aug 19, 2019 •

edited

Loading

julianoes commented Aug 20, 2019

Add AttitudeAngularVelocityBody, AttitudeAngularVelocityBody and ActuatorOutputStatus to telemetry #832

Add AttitudeAngularVelocityBody, AttitudeAngularVelocityBody and ActuatorOutputStatus to telemetry #832

Conversation

irsdkv commented Aug 8, 2019 • edited Loading

julianoes commented Aug 8, 2019

JonasVautherin Aug 9, 2019

Choose a reason for hiding this comment

irsdkv Aug 9, 2019

Choose a reason for hiding this comment

irsdkv Aug 9, 2019

Choose a reason for hiding this comment

julianoes left a comment

Choose a reason for hiding this comment

JonasVautherin commented Aug 14, 2019

julianoes commented Aug 14, 2019

irsdkv commented Aug 14, 2019 • edited Loading

irsdkv commented Aug 14, 2019 • edited Loading

julianoes commented Aug 14, 2019

julianoes left a comment

Choose a reason for hiding this comment

julianoes commented Aug 15, 2019

julianoes commented Aug 15, 2019

irsdkv commented Aug 19, 2019 • edited Loading

julianoes commented Aug 20, 2019

Add `AttitudeAngularVelocityBody`, `AttitudeAngularVelocityBody` and `ActuatorOutputStatus` to telemetry #832

Add `AttitudeAngularVelocityBody`, `AttitudeAngularVelocityBody` and `ActuatorOutputStatus` to telemetry #832

irsdkv commented Aug 8, 2019 •

edited

Loading

irsdkv commented Aug 14, 2019 •

edited

Loading

irsdkv commented Aug 14, 2019 •

edited

Loading

irsdkv commented Aug 19, 2019 •

edited

Loading