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Commit 068a385b authored by Don Gagne's avatar Don Gagne
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Merge pull request #2769 from DonLakeFlyer/MissionCommands 

Add missing mission commands for PX4 and ArduPilot stacks
parents 307bae05 69ecfb7b
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Showing with 260 additions and 25 deletions
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
View file @ 068a385b
...@@ -483,8 +483,8 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void) ...@@ -483,8 +483,8 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
{ {
QList<MAV_CMD> list; QList<MAV_CMD> list;
list << MAV_CMD_NAV_WAYPOINT list << MAV_CMD_NAV_WAYPOINT << MAV_CMD_NAV_SPLINE_WAYPOINT
<< MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TURNS << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_TO_ALT
<< MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF << MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
<< MAV_CMD_NAV_GUIDED_ENABLE << MAV_CMD_NAV_GUIDED_ENABLE
<< MAV_CMD_DO_SET_ROI << MAV_CMD_DO_GUIDED_LIMITS << MAV_CMD_DO_JUMP << MAV_CMD_DO_CHANGE_SPEED << MAV_CMD_DO_SET_CAM_TRIGG_DIST << MAV_CMD_DO_SET_ROI << MAV_CMD_DO_GUIDED_LIMITS << MAV_CMD_DO_JUMP << MAV_CMD_DO_CHANGE_SPEED << MAV_CMD_DO_SET_CAM_TRIGG_DIST
...@@ -492,7 +492,13 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void) ...@@ -492,7 +492,13 @@ QList<MAV_CMD> APMFirmwarePlugin::supportedMissionCommands(void)
<< MAV_CMD_DO_SET_SERVO << MAV_CMD_DO_REPEAT_SERVO << MAV_CMD_DO_SET_SERVO << MAV_CMD_DO_REPEAT_SERVO
<< MAV_CMD_DO_DIGICAM_CONFIGURE << MAV_CMD_DO_DIGICAM_CONTROL << MAV_CMD_DO_DIGICAM_CONFIGURE << MAV_CMD_DO_DIGICAM_CONTROL
<< MAV_CMD_DO_MOUNT_CONTROL << MAV_CMD_DO_MOUNT_CONTROL
<< MAV_CMD_CONDITION_DELAY << MAV_CMD_CONDITION_CHANGE_ALT << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW; << MAV_CMD_DO_SET_HOME
<< MAV_CMD_DO_LAND_START
<< MAV_CMD_DO_FENCE_ENABLE << MAV_CMD_DO_PARACHUTE << MAV_CMD_DO_INVERTED_FLIGHT << MAV_CMD_DO_GRIPPER
<< MAV_CMD_CONDITION_DELAY << MAV_CMD_CONDITION_CHANGE_ALT << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW
<< MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND
<< MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT;
return list; return list;
} }
......
src/FirmwarePlugin/APM/MavCmdInfoCommon.json
View file @ 068a385b
...@@ -16,6 +16,24 @@ ...@@ -16,6 +16,24 @@
"default": 0.26179939, "default": 0.26179939,
"decimalPlaces": 2 "decimalPlaces": 2
} }
},
{
"id": 84,
"rawName": "MAV_CMD_NAV_VTOL_TAKEOFF",
"friendlyName": "VTOL takeoff",
"description": "Takeoff from ground using VTOL mode.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "VTOL"
},
{
"id": 85,
"rawName": "MAV_CMD_NAV_VTOL_LAND",
"friendlyName": "VTOL land",
"description": "Land using VTOL mode.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "VTOL"
} }
] ]
} }
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @ 068a385b
...@@ -215,14 +215,15 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void) ...@@ -215,14 +215,15 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
list << MAV_CMD_NAV_WAYPOINT list << MAV_CMD_NAV_WAYPOINT
<< MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME << MAV_CMD_NAV_LOITER_UNLIM << MAV_CMD_NAV_LOITER_TIME
<< MAV_CMD_NAV_RETURN_TO_LAUNCH << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF << MAV_CMD_NAV_LAND << MAV_CMD_NAV_TAKEOFF
<< MAV_CMD_NAV_ROI << MAV_CMD_NAV_ROI
<< MAV_CMD_DO_JUMP << MAV_CMD_DO_JUMP
<< MAV_CMD_CONDITION_DELAY << MAV_CMD_CONDITION_DELAY
<< MAV_CMD_DO_VTOL_TRANSITION << MAV_CMD_DO_VTOL_TRANSITION << MAV_CMD_NAV_VTOL_TAKEOFF << MAV_CMD_NAV_VTOL_LAND
<< MAV_CMD_DO_DIGICAM_CONTROL << MAV_CMD_DO_DIGICAM_CONTROL
<< MAV_CMD_DO_SET_SERVO << MAV_CMD_DO_SET_SERVO
<< MAV_CMD_DO_CHANGE_SPEED; << MAV_CMD_DO_CHANGE_SPEED
<< MAV_CMD_NAV_PATHPLANNING;
return list; return list;
} }
......
src/MissionManager/MavCmdInfoCommon.json
View file @ 068a385b
...@@ -50,7 +50,7 @@ ...@@ -50,7 +50,7 @@
"description": "Travel to a position and Loiter around the specified radius indefinitely.", "description": "Travel to a position and Loiter around the specified radius indefinitely.",
"specifiesCoordinate": true, "specifiesCoordinate": true,
"friendlyEdit": true, "friendlyEdit": true,
"category": "Basic", "category": "Loiter",
"param3": { "param3": {
"label": "Radius:", "label": "Radius:",
"units": "meters", "units": "meters",
...@@ -65,7 +65,7 @@ ...@@ -65,7 +65,7 @@
"description": "Travel to a position and Loiter around the specified radius for a number of turns.", "description": "Travel to a position and Loiter around the specified radius for a number of turns.",
"specifiesCoordinate": true, "specifiesCoordinate": true,
"friendlyEdit": true, "friendlyEdit": true,
"category": "Basic", "category": "Loiter",
"param1": { "param1": {
"label": "Turns:", "label": "Turns:",
"default": 1, "default": 1,
...@@ -85,7 +85,7 @@ ...@@ -85,7 +85,7 @@
"description": "Travel to a position and Loiter around the specified radius for an amount of time.", "description": "Travel to a position and Loiter around the specified radius for an amount of time.",
"specifiesCoordinate": true, "specifiesCoordinate": true,
"friendlyEdit": true, "friendlyEdit": true,
"category": "Basic", "category": "Loiter",
"param1": { "param1": {
"label": "Hold:", "label": "Hold:",
"units": "seconds", "units": "seconds",
...@@ -152,8 +152,50 @@ ...@@ -152,8 +152,50 @@
{ "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "MAV_CMD_NAV_LAND_LOCAL" }, { "id": 23, "rawName": "MAV_CMD_NAV_LAND_LOCAL", "friendlyName": "MAV_CMD_NAV_LAND_LOCAL" },
{ "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "MAV_CMD_NAV_TAKEOFF_LOCAL" }, { "id": 24, "rawName": "MAV_CMD_NAV_TAKEOFF_LOCAL", "friendlyName": "MAV_CMD_NAV_TAKEOFF_LOCAL" },
{ "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "MAV_CMD_NAV_FOLLOW" }, { "id": 25, "rawName": "MAV_CMD_NAV_FOLLOW", "friendlyName": "MAV_CMD_NAV_FOLLOW" },
{ "id": 30, "rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT", "friendlyName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" }, {
{ "id": 31, "rawName": "MAV_CMD_NAV_LOITER_TO_ALT" }, "id": 30,
"rawName": "MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT",
"friendlyName": "Change Altitude",
"description": "Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command.",
"specifiesCoordinate": false,
"friendlyEdit": true,
"category": "Flight control",
"param1": {
"label": "Mode:",
"enumStrings": "Climb,Neutral,Descend",
"enumValues": "1,0,2",
"default": 1,
"decimalPlaces": 0
},
"param7": {
"label": "Altitude:",
"units": "meters",
"default": 55,
"decimalPlaces": 2
}
},
{
"id": 31,
"rawName": "MAV_CMD_NAV_LOITER_TO_ALT",
"friendlyName": "Loiter (altitude)",
"description": "Loiter at specified position until altitude reached.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "Loiter",
"param1": {
"label": "Heading wait:",
"enumStrings": "False,True",
"enumValues": "0,1",
"default": 0,
"decimalPlaces": 0
},
"param2": {
"label": "Radius:",
"units": "meters",
"default": 10.0,
"decimalPlaces": 2
}
},
{ {
"id": 80, "id": 80,
"rawName": "MAV_CMD_NAV_ROI", "rawName": "MAV_CMD_NAV_ROI",
...@@ -181,9 +223,81 @@ ...@@ -181,9 +223,81 @@
"decimalPlaces": 0 "decimalPlaces": 0
} }
}, },
{ "id": 81, "rawName": "MAV_CMD_NAV_PATHPLANNING", "friendlyName": "MAV_CMD_NAV_PATHPLANNING" }, {
{ "id": 82, "rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT", "friendlyName": "MAV_CMD_NAV_SPLINE_WAYPOINT" }, "id": 81,
"rawName": "MAV_CMD_NAV_PATHPLANNING",
"friendlyName": "Path planning",
"description": "Control autonomous path planning.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "Advanced",
"param1": {
"label": "Local planning:",
"enumStrings": "Disable,Enable,Enable+reset",
"enumValues": "0,1,2",
"default": 1,
"decimalPlaces": 0
},
"param2": {
"label": "Full planning:",
"enumStrings": "Disable,Enable,Enable+reset,Enable+reset route only",
"enumValues": "0,1,2,3",
"default": 1,
"decimalPlaces": 0
},
"param4": {
"label": "Heading goal:",
"default": 0,
"units": "degrees",
"decimalPlaces": 2
}
},
{
"id": 82,
"rawName": "MAV_CMD_NAV_SPLINE_WAYPOINT",
"friendlyName": "Spline waypoint",
"description": "Travel to a position in 3D space using spline path.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "Basic",
"param1": {
"label": "Hold:",
"units": "seconds",
"default": 0,
"decimalPlaces": 0
}
},
{ "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" }, { "id": 83, "rawName": "MAV_CMD_NAV_ALTITUDE_WAIT", "friendlyName": "MAV_CMD_NAV_ALTITUDE_WAIT" },
{
"id": 84,
"rawName": "MAV_CMD_NAV_VTOL_TAKEOFF",
"friendlyName": "VTOL takeoff",
"description": "Takeoff from ground using VTOL mode.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "VTOL",
"param4": {
"label": "Heading:",
"units": "degrees",
"default": 0.0,
"decimalPlaces": 2
}
},
{
"id": 85,
"rawName": "MAV_CMD_NAV_VTOL_LAND",
"friendlyName": "VTOL land",
"description": "Land using VTOL mode.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "VTOL",
"param4": {
"label": "Heading:",
"units": "degrees",
"default": 0.0,
"decimalPlaces": 2
}
},
{ {
"id": 92, "id": 92,
"rawName": "MAV_CMD_NAV_GUIDED_ENABLE", "rawName": "MAV_CMD_NAV_GUIDED_ENABLE",
...@@ -296,6 +410,7 @@ ...@@ -296,6 +410,7 @@
"rawName": "MAV_CMD_DO_CHANGE_SPEED", "rawName": "MAV_CMD_DO_CHANGE_SPEED",
"friendlyName": "Change speed", "friendlyName": "Change speed",
"description": "Change speed and/or throttle set points.", "description": "Change speed and/or throttle set points.",
"category": "Flight control",
"param1": { "param1": {
"label": "Type:", "label": "Type:",
"enumStrings": "Airspeed,Ground Speed", "enumStrings": "Airspeed,Ground Speed",
...@@ -313,7 +428,23 @@ ...@@ -313,7 +428,23 @@
"default": -1 "default": -1
} }
}, },
{ "id": 179, "rawName": "MAV_CMD_DO_SET_HOME", "friendlyName": "MAV_CMD_DO_SET_HOME" }, {
"id": 179,
"rawName": "MAV_CMD_DO_SET_HOME",
"friendlyName": "Set home location",
"description": "Changes the home location either to the current location or a specified location.",
"specifiesCoordinate": true,
"standaloneCoordinate": true,
"friendlyEdit": true,
"category": "Advanced",
"param1": {
"label": "Mode:",
"enumStrings": "Vehicle position,Specified position",
"enumValues": "1,0",
"default": 0,
"decimalPlaces": 0
}
},
{ "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_SET_PARAMETER" }, { "id": 180, "rawName": "MAV_CMD_DO_SET_PARAMETER", "friendlyName": "MAV_CMD_DO_SET_PARAMETER" },
{ {
"id": 181, "id": 181,
...@@ -399,7 +530,15 @@ ...@@ -399,7 +530,15 @@
} }
}, },
{ "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "MAV_CMD_DO_FLIGHTTERMINATION" }, { "id": 185, "rawName": "MAV_CMD_DO_FLIGHTTERMINATION", "friendlyName": "MAV_CMD_DO_FLIGHTTERMINATION" },
{ "id": 189, "rawName": "MAV_CMD_DO_LAND_START", "friendlyName": "MAV_CMD_DO_LAND_START" }, {
"id": 189,
"rawName": "MAV_CMD_DO_LAND_START",
"friendlyName": "Land start",
"description": "Marker to indicate start of landing sequence.",
"specifiesCoordinate": true,
"friendlyEdit": true,
"category": "Basic"
},
{ "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "MAV_CMD_DO_RALLY_LAND" }, { "id": 190, "rawName": "MAV_CMD_DO_RALLY_LAND", "friendlyName": "MAV_CMD_DO_RALLY_LAND" },
{ "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "MAV_CMD_DO_GO_AROUND" }, { "id": 191, "rawName": "MAV_CMD_DO_GO_AROUND", "friendlyName": "MAV_CMD_DO_GO_AROUND" },
{ "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "MAV_CMD_DO_CONTROL_VIDEO" }, { "id": 200, "rawName": "MAV_CMD_DO_CONTROL_VIDEO", "friendlyName": "MAV_CMD_DO_CONTROL_VIDEO" },
...@@ -554,16 +693,82 @@ ...@@ -554,16 +693,82 @@
"decimalPlaces": 2 "decimalPlaces": 2
} }
}, },
{ "id": 207, "rawName": "MAV_CMD_DO_FENCE_ENABLE", "friendlyName": "MAV_CMD_DO_FENCE_ENABLE" }, {
{ "id": 208, "rawName": "MAV_CMD_DO_PARACHUTE", "friendlyName": "MAV_CMD_DO_PARACHUTE" }, "id": 207,
"rawName": "MAV_CMD_DO_FENCE_ENABLE",
"friendlyName": "Enable geofence",
"description": "Enable/Disable geofence.",
"specifiesCoordinate": false,
"friendlyEdit": true,
"category": "Safety",
"param1": {
"label": "Enable:",
"enumStrings": "Disable,Disable floor only,Enable",
"enumValues": "0,2,1",
"default": 1,
"decimalPlaces": 0
}
},
{
"id": 208,
"rawName": "MAV_CMD_DO_PARACHUTE",
"friendlyName": "Trigger parachute",
"description": "Enable/Disable geofence.",
"specifiesCoordinate": false,
"friendlyEdit": true,
"category": "Safety",
"param1": {
"label": "Trigger:",
"enumStrings": "Disable,Enable,Release",
"enumValues": "0,1,2",
"default": 1,
"decimalPlaces": 0
}
},
{ "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "MAV_CMD_DO_MOTOR_TEST" }, { "id": 209, "rawName": "MAV_CMD_DO_MOTOR_TEST", "friendlyName": "MAV_CMD_DO_MOTOR_TEST" },
{ "id": 210, "rawName": "MAV_CMD_DO_INVERTED_FLIGHT", "friendlyName": "MAV_CMD_DO_INVERTED_FLIGHT" }, {
"id": 210,
"rawName": "MAV_CMD_DO_INVERTED_FLIGHT",
"friendlyName": "Inverted flight",
"description": "Change to/from inverted flight.",
"specifiesCoordinate": false,
"friendlyEdit": true,
"category": "Flight control",
"param1": {
"label": "Inverted:",
"enumStrings": "Normal,Inverted",
"enumValues": "0,1",
"default": 0,
"decimalPlaces": 0
}
},
{
"id": 211,
"rawName": "MAV_CMD_DO_GRIPPER",
"friendlyName": "Gripper",
"description": "Operate EPM gripper.",
"specifiesCoordinate": false,
"friendlyEdit": true,
"category": "Advanced",
"param1": {
"label": "Gripper id:",
"default": 1,
"decimalPlaces": 0
},
"param2": {
"label": "Action:",
"enumStrings": "Release,Grab",
"enumValues": "0,1",
"default": 0,
"decimalPlaces": 0
}
},
{ "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT", "friendlyName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" }, { "id": 220, "rawName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT", "friendlyName": "MAV_CMD_DO_MOUNT_CONTROL_QUAT" },
{ "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER", "friendlyName": "MAV_CMD_DO_GUIDED_MASTER" }, { "id": 221, "rawName": "MAV_CMD_DO_GUIDED_MASTER", "friendlyName": "MAV_CMD_DO_GUIDED_MASTER" },
{ {
"id": 222, "id": 222,
"rawName": "MAV_CMD_DO_GUIDED_LIMITS", "rawName": "MAV_CMD_DO_GUIDED_LIMITS",
"friendlyName": "External control limits", "friendlyName": "Guided limits",
"description": "Set limits for external control", "description": "Set limits for external control",
"param1": { "param1": {
"label": "Timeout:", "label": "Timeout:",
...@@ -579,8 +784,9 @@ ...@@ -579,8 +784,9 @@
}, },
"param3": { "param3": {
"label": "Max Alt:", "label": "Max Alt:",
"units": "m(AMSL)",
"default": 100, "default": 100,
"decimalPlaces": 7 "decimalPlaces": 2
}, },
"param4": { "param4": {
"label": "H Limit:", "label": "H Limit:",
...@@ -603,7 +809,7 @@ ...@@ -603,7 +809,7 @@
"rawName": "MAV_CMD_DO_VTOL_TRANSITION", "rawName": "MAV_CMD_DO_VTOL_TRANSITION",
"friendlyName": "VTOL Transition", "friendlyName": "VTOL Transition",
"description": "Perform flight mode transition", "description": "Perform flight mode transition",
"category": "Basic", "category": "VTOL",
"param1": { "param1": {
"label": "Mode:", "label": "Mode:",
"default": 3, "default": 3,
......
src/MissionManager/MissionCommands.cc
View file @ 068a385b
...@@ -77,10 +77,14 @@ void MissionCommands::_createCategories(void) ...@@ -77,10 +77,14 @@ void MissionCommands::_createCategories(void)
foreach (MAV_CMD command, cmdList) { foreach (MAV_CMD command, cmdList) {
MavCmdInfo* mavCmdInfo = _commonMissionCommands.getMavCmdInfo(command); MavCmdInfo* mavCmdInfo = _commonMissionCommands.getMavCmdInfo(command);
if (mavCmdInfo->friendlyEdit()) { if (mavCmdInfo) {
_categoryToMavCmdListMap[firmwareType][mavCmdInfo->category()].append(command); if (mavCmdInfo->friendlyEdit()) {
} else if (!allCommandsSupported) { _categoryToMavCmdListMap[firmwareType][mavCmdInfo->category()].append(command);
qWarning() << "Attempt to add non friendly edit supported command"; } else if (!allCommandsSupported) {
qWarning() << "Attempt to add non friendly edit supported command" << command;
}
} else {
qCDebug(MissionCommandsLog) << "Command missing from json" << command;
} }
} }
} }
......
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