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Navigator Rewrite #1046

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wants to merge 120 commits into from
Closed

Navigator Rewrite #1046

wants to merge 120 commits into from

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julianoes
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Overview

This navigator rewrite aims to consolidate the tasks of commander versus navigator. It is now written in the way that it was initially proposed:

  • Commander:
    • Watch vehicle status, inputs, sensors, etc.
    • React to errors and human input (e.g. using a fail-safe state machine)
    • Set navigation mode for navigator
  • Navigator:
    • Listen to navigation mode set by commander
    • Set position setpoints according to navigation mode (Misison, Loiter, RTL, etc.)

The state machine in the navigator is gone. However, it might someday replace the if/else failsafe logic (bool and enum hell) currently implemented in the commander.

The main work was to split the navigation modes into separate classes. This should make it easy for developers to add custom flight modes in the future. All that is needed is a new class for the navigation and a (new) mode from the commander going with it.

Features

  • Land/in-air detection for FW added
  • RTL does not trigger when landed
  • RTL on RC loss is not triggered during mission but when the mission is finished
  • Switching to loiter after a mission is finished does not move the loiter center
  • Switching to loiter after RTL (without landing) does not move the loiter center
  • Loiter is triggered when WPs can not be read from SD card

Todo (updated)

  • MC HIL Testing
  • MC Testing (partly done, needs more testing)
  • FW HIL Testing (done)
  • FW Testing (flown quite a bit, latest fixes need re-testing)
  • Autocontinue (not added yet)
  • Waiting before triggering RTL (needs to be added)
  • Autoland (works for FW, needs MC testing)

Note:
For review don't look at single commits, lot's of stuff got changed multiple times.

DrTon and others added 30 commits April 18, 2014 22:05
@DrTon @julianoes
rcS: removed unnecessary sleeps, minor code style fixes
2ac0e1f
@julianoes
commander: don't beep if message is not understood
3fa8267
@julianoes
mavlink: implemented multicasting between mavlink instances (two opti…
15defeb 
…ons: forwarding: forward received messages from self to other mavlink instances, passing: send out messages received from other mavlink intances over serial
@thomasgubler @julianoes
mavlink: in normal mode transmit position setpoint and roll-pitch-yaw…
2cd4648 
…-thrust setpoint
@DrTon @julianoes
mavlink: publish SYS_STATUS at constant rate, don't look at update() …
a66dcbf 
…result
@julianoes
commander: put unsupported warning back in place
3dd6408
@julianoes
mavlink: use LL_FOREACH
01d9d48
@julianoes
Send camera command to all, use own sysid
d662fa4
@thomasgubler @julianoes
gps driver: fake mode: lower eph and epv values in order to convince …
fefe19a 
…the commander that the gps signal is valid
@thomasgubler @julianoes
mavlink: accessor for _mavlink_fd
1c49f13
@thomasgubler @julianoes
commander: handle_command: filter commands by sysid and componentid
03a3b1d
@thomasgubler @julianoes
mavlink: COMMAND_LONG stream: listen to vehicle_command uorb topic an…
b2bc8c1 
…d send mavlink_msg_command_long
@thomasgubler @julianoes
commander: handle_command: do not filter command if componentid == 0
93227f9
@DrTon @julianoes
position_estimator_inav: make land detector more sensitive to LANDED …
b603b00 
…-> IN AIR transitions
@DrTon @julianoes
mavlink: commands stream implemented
839fa13
@DrTon @julianoes
mavlink: minor comments and formatting fixes
84aa96c
@LorenzMeier @julianoes
Revert "Merge pull request #816 from PX4/mavlink_commandlongstream"
a96d83e 
This reverts commit 00ef10f, reversing
changes made to d55e64d.
@helenol @julianoes
Added VICON logging, finally.
746c508
@helenol @julianoes
Tabs tabs tabs
18e47c0
@helenol @julianoes
VICON -> VICN
df0ab0e
@helenol @julianoes
VICON -> VICN really this time.
99ab001
@helenol @julianoes
Logging changes, baud rate changes.
b96669a
@julianoes
mavlink and mission topic: added reading in DO_JUMP mission items
665a2d6
@julianoes
navigator: support DO_JUMP misison items
705b10f
@helenol @julianoes
Added vicon stream.
5c99606
@helenol @julianoes
Set startup script to do mavlinks.
32c5729
@helenol @julianoes
Finished adding a '-w' option.
e09aed9
@helenol @julianoes
Fixed final parameters in rcS
7d38af8
@helenol @julianoes
Reverted rcS
0ed8a6d
@helenol @julianoes
Indentation.
ff2e473
@julianoes
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@DrTon @thomasgubler
I added some more failsafe logic how I think it is reasonable. I also added a parameter to enable the data link loss. If it is not enabled, then RTL is triggered after the mission is finished.

I currently wasn't able to get the data link detected even though I enabled heartbeats in QGC. I think the problem is that my 3DR radios don't send radio status. How would I have to configure them? Could we change this, so that it is possible without messing with the radios?

@DrTon
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DrTon commented Jun 18, 2014

Cool, I will look later. We can send telemetry status on receiveing heartbeat, for example. Just copy some code from handle radio status to handle heartbeat. To enable radio status make sure that MAVLINK=1 on your radio. I can help with it tomorrow.

julianoes and others added 17 commits June 19, 2014 09:33
@julianoes
mavlink: publish telemtry status without radio status
94e0049
@julianoes
commander/navigator: renamed FS modes to RTL and RTGS (return to grou…
62faa2e 
…nd station)
@julianoes
Merge pull request #1057 from achambers16/navigator_rewrite_modes_list
5bab3b1 
Navigator rewrite: create list of navigation modes
@julianoes
mavlink: only publish telemetry status from GCS
e0c78e5
@DrTon
navigator: move set_previous_pos_sp to MissionBlock class
9d3d5a3
@DrTon
commander: modes fallback and reject messages fixed
bdf1b92
@DrTon
navigator: RTL return altitude fixed
39454ca
@DrTon
navigator: loiter fixes
c5a5604
@DrTon
navigator: don't reset RTL state on loiter
63e14c7
@DrTon
navigator: minor formatting fix
6e5aafb
@DrTon
navigator: spaces/tabs fixed, old commented code removed
8e8798a
@DrTon
navigator: added NAV_CMD_IDLE, added RTL_STATE_LOITER and RTL_STATE_L…
9ae4429 
…ANDED instead of FINISHED
@DrTon
navigator: is_mission_item_reached() for LOITER items fixed
1bae183
@DrTon
navigator: use common "acceptance radius" parameter for all modes
52eb49b
@DrTon
navigator: make MissionBlock subclass of NavigatorMode
affc312
@julianoes
Merge remote-tracking branch 'px4/mtecs' into navigator_rewrite
3aab37e
@julianoes
Merge branch 'master' into navigator_rewrite
cc8f7f4 
Conflicts:
	src/modules/commander/commander.cpp
	src/modules/commander/state_machine_helper.h
	src/modules/mavlink/mavlink_messages.cpp
@LorenzMeier
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@julianoes @DrTon @thomasgubler Given the intense testing with this, anything that should keep us from merging to master?

@julianoes
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The only issue for me some days ago was Autoland after RTL for MC.
@DrTon did this work for you?

@DrTon
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DrTon commented Jun 28, 2014

Yes, it works. Check navigator_rewrite_drton branch please and merge if you are happy with changes. I'm going to do some more minor fixes: change arguments for some functions in API, but logic will be unchanged.

@LorenzMeier LorenzMeier mentioned this pull request Jun 29, 2014
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@LorenzMeier
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Closing this PR and re-opening it against master.

@LorenzMeier LorenzMeier mentioned this pull request Jun 29, 2014
Merged
@julianoes julianoes mentioned this pull request Jul 22, 2014
Closed
PX4BuildBot added a commit that referenced this pull request Jun 17, 2024
@PX4BuildBot
Update submodule sitl_gazebo-classic to latest Mon Jun 17 12:39:04 UT…
0c18d43 
…C 2024

    - sitl_gazebo-classic in PX4/Firmware (fcb479c): PX4/PX4-SITL_gazebo-classic@da7206e
    - sitl_gazebo-classic current upstream: PX4/PX4-SITL_gazebo-classic@67431d2
    - Changes: PX4/PX4-SITL_gazebo-classic@da7206e...67431d2

    67431d2 2024-06-17 Silvan Fuhrer - standard_vtol.sdf: increase max airspeed for thrust model to 30m/s (#1046)
7dc8042 2024-06-17 Jaeyoung Lim - Parameterize maximum relative air velocity for generating thrust on the motors (#1045)
93b45ad 2024-06-14 Silvan Fuhrer - ramped up wind.world: increase windRampStart to 90s (#1044)
708dff5 2024-06-12 Ayham Alharbat - fixing the links and joints names in typhoon model to reflect the numbers of the motors in the px4's hex x airframe (#1043)
383a68e 2024-06-04 Matteo Del Seppia - Fixed uuv_bluerov2_heavy SDF model, adding jinja for multi vehicle simulations (#1042)
f754540 2024-03-04 RyosukeMatsushima - remove unmatched bracket (#1024)
63b72dc 2024-03-04 Julian Oes - gimbal_controller: send attitude in Earth frame (#1023)
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9 participants
@julianoes @TickTock- @DrTon @LorenzMeier @kroimon @achambers16 @thomasgubler @ufoncz @helenol