Use control group target from mavlink message. #8908

xgerrmann · 2018-02-18T14:33:18Z

Previously the control group 0 was used for publishing the control targets from the incoming mavlink messages. In the mavlink specification, it is possible to set a specific control group. This ensures the correct control group is targeted.
This PR, accompanies the DroneCore PR: mavlink/MAVSDK#277

The UART3 also have the I2C bus 2 functions so moving GPS to UART7 to have one additional I2C. To keep GPS working is also necessary update the FPGA RTL to version 0xC1 or higher.

Nothing use this define right now so lets remove it. Several other boards also have this defines that can also be removed.

Now that UART3 is no longer in use we can use this I2C bus.

…more I2C buses

This change plus the new FPGA RTL(version 0xC1 or higher) will make use of the new I2C bus, this new bus will be shared between aerofc_adc and ll40ls(if connected) and leaving the old bus just to IST8310.

This can help "unbrick" AeroFC when a bad firmware is loaded and it keeps rebooting or it spinning in some loop. No need to request to stay in booloader as it will stay in bootloader because the pin is set.

…based on tailsitter) * added new vtol type * kill switch causes automatically disarming * RC loss causes automatically disarming

* Add sitl mixer file * reversed standard_vtol mixer back

…, proper outputs) * cleaned up and simplyfied kitpower vtol controller * added neutral axes rotation when switching in fw mode * added motor shutdown when in fixedwing mode

dagar · 2018-02-18T17:07:33Z

@xgerrmann please check the CI failure (trivial formatting).

xgerrmann · 2018-03-06T19:27:01Z

@dagar Can you look into this, please?
If you agree with the implementation, I'll rebase on demand.

dagar · 2018-03-06T19:39:25Z

Looks correct, but don't we need more logic to handle group_mlx changing? There's nothing stopping you from sending the first set_actuator_control_target on group_mlx=0, which advertises and publishes actuator_controls_0, then the following message on group_mlx=1, but the publish will be broken.

… is published.

xgerrmann · 2018-03-26T21:20:40Z

@julianoes, I've implemented your requested changes.

julianoes

Ok looks correct now.

dagar · 2018-03-30T04:26:25Z

Has this been tested?

This reverts commit b4eed22, reversing changes made to e303bae.

dagar · 2018-05-23T05:47:40Z

Can you remove the extra commits and rebase on current master?

dagar · 2018-05-25T15:30:42Z

src/modules/mavlink/mavlink_receiver.cpp

@@ -1055,18 +1055,47 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 		if (_control_mode.flag_control_offboard_enabled) {

 			actuator_controls.timestamp = hrt_absolute_time();
+			uint8_t control_group           = set_actuator_control_target.group_mlx;
+			static int8_t control_group_previous = -1;


Can you move the static into the class?

dagar

Can you remove the extra commits and rebase on current master?

AlexisTM · 2018-08-03T15:28:26Z

NOTE: This has conflicts with #7477 as it solves the same issue

AlexisTM · 2018-09-26T15:09:14Z

@xgerrmann #7477 is merged with the master; Thus the problem this PR solves is no more.
https://github.com/PX4/Firmware/blob/2250946eaaecd61a3a88e802b65537ede540f701/src/modules/mavlink/mavlink_receiver.cpp#L1120-L1165

stale · 2019-01-20T05:06:16Z

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

stale · 2019-02-04T00:04:18Z

Closing as stale.

julianoes · 2019-02-04T10:45:17Z

@dagar we should probably check if this can go in.

stale · 2019-02-18T11:22:30Z

Closing as stale.

julianoes · 2019-02-18T12:27:22Z

At stalebot, the fight is on! 😄

AlexisTM · 2019-02-18T12:34:20Z

This PR has been overseeded by #7477.

#7477 uses a different object for each topic.

julianoes · 2019-02-18T12:48:24Z

Ok thanks @AlexisTM

zehortigoza and others added 24 commits August 5, 2017 11:04

aerofc: Move GPS to UART7

c6110f8

The UART3 also have the I2C bus 2 functions so moving GPS to UART7 to have one additional I2C. To keep GPS working is also necessary update the FPGA RTL to version 0xC1 or higher.

nuttx-configs: aerofc: Remove GPIO_I2C*_S**_GPIO

b241f72

Nothing use this define right now so lets remove it. Several other boards also have this defines that can also be removed.

aerofc: Enable I2C bus 2

79e93ff

Now that UART3 is no longer in use we can use this I2C bus.

aerofc_adc: Add support to use others I2C besides PX4_I2C_BUS_EXPANSION

afafb13

ll40ls: Refactor interface(PWM and I2C) selection and allow probe in …

20822ec

…more I2C buses

aerofc: Use the additional I2C

3098c77

This change plus the new FPGA RTL(version 0xC1 or higher) will make use of the new I2C bus, this new bus will be shared between aerofc_adc and ll40ls(if connected) and leaving the old bus just to IST8310.

aerofc: Reboot board when force bootloader pin is set

a0fe6f2

This can help "unbrick" AeroFC when a bad firmware is loaded and it keeps rebooting or it spinning in some loop. No need to request to stay in booloader as it will stay in bootloader because the pin is set.

aerofc: switch companion baud to 921600

00f8024

aerofc: allow to use 921600 baud to reboot

d928fd3

* added new airframe, new mixer and kitepower vtol controller (still …

2b28497

…based on tailsitter) * added new vtol type * kill switch causes automatically disarming * RC loss causes automatically disarming

* Add rigid_wing target for gazebo_sitl repo

8a0169f

* Add sitl mixer file * reversed standard_vtol mixer back

Working new kitepower controller within simulation (simple transition…

48fd8c8

…, proper outputs) * cleaned up and simplyfied kitpower vtol controller * added neutral axes rotation when switching in fw mode * added motor shutdown when in fixedwing mode

Update model.

6260b45

Update submodule

2889e87

submodule update

8fdc4df

Mixer for yaw and pitch working correctly in simulation.

0fac808

More descriptive comments in mixed file, and add null channel.

981b9fc

Remove redundant mixer (was only for simulation). Invert yaw channel.

7ab2ec6

Different channels in mixers, require a model update.

8bacbf0

Merge mixer files. Remove mixer only for sitl.

1a1b67d

Change channels of yaw and pitch.

99f89ef

Merge branch 'fig_8_actuator_mixer' into gamma_rigid_wing

33ef82d

submodule update.

bb5b88c

Use control group target from mavlink message.

b2e85f1

xgerrmann mentioned this pull request Feb 18, 2018

Add functionality for setting the actuator control targets directly. mavlink/MAVSDK#277

Closed

Fix style.

05d5acd

Add check and fix for changing control groups.

cd9f333

Changed !(x==y) to (x!=y). Unadvertise when a different control group…

e303bae

… is published.

julianoes approved these changes Mar 27, 2018

View reviewed changes

GabrielKoenig and others added 4 commits April 10, 2018 12:19

cleaned up, working servo outputs, proper switch mc to fw

09e5fb5

inverted parachute output signal

5f79220

Merge branch 'gamma_rigid_wing' into set_actuator_pr

b4eed22

Revert "Merge branch 'gamma_rigid_wing' into set_actuator_pr"

69d106f

This reverts commit b4eed22, reversing changes made to e303bae.

dagar reviewed May 25, 2018

View reviewed changes

dagar requested changes May 25, 2018

View reviewed changes

AlexisTM mentioned this pull request Aug 3, 2018

Adding the Mavlink handler for the Actuator controls message #7477

Merged

stale bot added the Admin: Wont fix label Jan 20, 2019

weekly-digest bot mentioned this pull request Jan 27, 2019

Weekly Digest (20 January, 2019 - 27 January, 2019) #11307

Closed

stale bot closed this Feb 4, 2019

julianoes reopened this Feb 4, 2019

weekly-digest bot mentioned this pull request Feb 10, 2019

Weekly Digest (3 February, 2019 - 10 February, 2019) #11425

Closed

stale bot closed this Feb 18, 2019

julianoes reopened this Feb 18, 2019

stale bot removed the Admin: Wont fix label Feb 18, 2019

julianoes closed this Feb 18, 2019

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Use control group target from mavlink message. #8908

Use control group target from mavlink message. #8908

xgerrmann commented Feb 18, 2018 •

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Use control group target from mavlink message. #8908

Use control group target from mavlink message. #8908

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