dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Navigator: remove support for DO_SET_SERVO 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-03-07 10:45:48 +01:00 committed by Beat Küng
parent a1812dbde0
commit 17cd65a239
6 changed files with 2 additions and 47 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
msg/VehicleCommand.msg
View File

@ -36,7 +36,6 @@ uint16 VEHICLE_CMD_DO_SET_HOME = 179 # Changes the home location either to the
uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_SET_RELAY = 181 # Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185 # Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186 # Set the vehicle to Loiter mode and change the altitude to specified value |Altitude| Frame of new altitude | Empty| Empty| Empty| Empty| Empty|

2
src/modules/mavlink/mavlink_mission.cpp
View File

@ -1527,7 +1527,6 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_LAND_START:
case MAV_CMD_DO_TRIGGER_CONTROL:
case MAV_CMD_DO_DIGICAM_CONTROL:
@ -1624,7 +1623,6 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_DO_CHANGE_SPEED:
case NAV_CMD_DO_SET_HOME:
case NAV_CMD_DO_SET_SERVO:
case NAV_CMD_DO_LAND_START:
case NAV_CMD_DO_TRIGGER_CONTROL:
case NAV_CMD_DO_DIGICAM_CONTROL:

24
src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
View File

@ -267,7 +267,6 @@ bool FeasibilityChecker::checkMissionItemValidity(mission_item_s &mission_item,
mission_item.nav_cmd != NAV_CMD_DO_JUMP &&
mission_item.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
mission_item.nav_cmd != NAV_CMD_DO_SET_HOME &&
mission_item.nav_cmd != NAV_CMD_DO_SET_SERVO &&
mission_item.nav_cmd != NAV_CMD_DO_LAND_START &&
mission_item.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
mission_item.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
@ -300,28 +299,6 @@ bool FeasibilityChecker::checkMissionItemValidity(mission_item_s &mission_item,
return false;
}
/* Check non navigation item */
if (mission_item.nav_cmd == NAV_CMD_DO_SET_SERVO) {
/* check actuator number */
if (mission_item.params[0] < 0 || mission_item.params[0] > 5) {
mavlink_log_critical(_mavlink_log_pub, "Actuator number %d is out of bounds 0..5\t",
(int)mission_item.params[0]);
events::send<uint32_t>(events::ID("navigator_mis_act_index"), {events::Log::Error, events::LogInternal::Warning},
"Actuator number {1} is out of bounds 0..5", (int)mission_item.params[0]);
return false;
}
/* check actuator value */
if (mission_item.params[1] < -PWM_DEFAULT_MAX || mission_item.params[1] > PWM_DEFAULT_MAX) {
mavlink_log_critical(_mavlink_log_pub,
"Actuator value %d is out of bounds -PWM_DEFAULT_MAX..PWM_DEFAULT_MAX\t", (int)mission_item.params[1]);
events::send<uint32_t, uint32_t>(events::ID("navigator_mis_act_range"), {events::Log::Error, events::LogInternal::Warning},
"Actuator value {1} is out of bounds -{2}..{2}", (int)mission_item.params[1], PWM_DEFAULT_MAX);
return false;
}
}
// check if the mission starts with a land command while the vehicle is landed
if ((current_index == 0) && mission_item.nav_cmd == NAV_CMD_LAND && _is_landed) {
@ -375,7 +352,6 @@ bool FeasibilityChecker::checkTakeoff(mission_item_s &mission_item)
mission_item.nav_cmd != NAV_CMD_DO_JUMP &&
mission_item.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
mission_item.nav_cmd != NAV_CMD_DO_SET_HOME &&
mission_item.nav_cmd != NAV_CMD_DO_SET_SERVO &&
mission_item.nav_cmd != NAV_CMD_DO_LAND_START &&
mission_item.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
mission_item.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&

18
src/modules/navigator/mission_block.cpp
View File

@ -70,7 +70,6 @@ MissionBlock::is_mission_item_reached_or_completed()
switch (_mission_item.nav_cmd) {
// Action Commands that doesn't have timeout completes instantaneously
case NAV_CMD_DO_SET_SERVO:
case NAV_CMD_DO_SET_ACTUATOR:
case NAV_CMD_DO_LAND_START:
case NAV_CMD_DO_TRIGGER_CONTROL:
@ -556,21 +555,8 @@ MissionBlock::issue_command(const mission_item_s &item)
return;
}
if (item.nav_cmd == NAV_CMD_DO_SET_SERVO) {
PX4_INFO("DO_SET_SERVO command");
// XXX: we should issue a vehicle command and handle this somewhere else
actuator_controls_s actuators = {};
actuators.timestamp = hrt_absolute_time();
// params[0] actuator number to be set 0..5 (corresponds to AUX outputs 1..6)
// params[1] new value for selected actuator in ms 900...2000
actuators.control[(int)item.params[0]] = 1.0f / 2000 * -item.params[1];
_actuator_pub.publish(actuators);
} else if (item.nav_cmd == NAV_CMD_DO_WINCH ||
item.nav_cmd == NAV_CMD_DO_GRIPPER) {
if (item.nav_cmd == NAV_CMD_DO_WINCH ||
item.nav_cmd == NAV_CMD_DO_GRIPPER) {
// Initiate Payload Deployment
vehicle_command_s vcmd = {};
vcmd.command = item.nav_cmd;

3
src/modules/navigator/mission_block.h
View File

@ -212,7 +212,4 @@ protected:
bool _payload_deploy_ack_successful{false}; // Flag to keep track of whether we received an acknowledgement for a successful payload deployment
hrt_abstime _payload_deployed_time{0}; // Last payload deployment start time to handle timeouts
float _payload_deploy_timeout_s{0.0f}; // Timeout for payload deployment in Mission class, to prevent endless loop if successful deployment ack is never received
// Used for MAV_CMD_DO_SET_SERVO command of a Mission item
uORB::Publication<actuator_controls_s> _actuator_pub{ORB_ID(actuator_controls_2)};
};

1
src/modules/navigator/navigation.h
View File

@ -74,7 +74,6 @@ enum NAV_CMD {
NAV_CMD_DO_JUMP = 177,
NAV_CMD_DO_CHANGE_SPEED = 178,
NAV_CMD_DO_SET_HOME = 179,
NAV_CMD_DO_SET_SERVO = 183,
NAV_CMD_DO_SET_ACTUATOR = 187,
NAV_CMD_DO_LAND_START = 189,
NAV_CMD_DO_SET_ROI_LOCATION = 195,