AP_DDS: Status Message #28337

tizianofiorenzani · 2024-10-07T22:27:49Z

Issue: AP_DDS: Provide vehicle type and mode #28301
Creates a new /ap/status message
Publishes the topic only when the status changes.
The status reports a flag external_control, which will be filled by or after AP_DDS: External Control enable #28429.

Test

Launch the SITL.
Open a new terminal and echo the new topic.
Verify that only one message is published.
Now change the vehicle's mode and verify that a new message has been published.
Arm and takeoff, verify that a new message has been published only when armed flag changes.

Test a failsafe:

Change the parameter BATT_LOW_VOLT to 11.0
Set the parameter SIM_BATT_VOLTAGE to 10.6.
Verify that the status topics reports a failsafe of type 22
Disable the RC setting SIM_RC_FAIL to 1.
Verify that the failsafe array now reports 22 and 21

Ryanf55 · 2024-10-08T00:10:16Z

libraries/AP_DDS/AP_DDS_Client.cpp

@@ -42,6 +43,7 @@ static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33;
 static constexpr uint16_t DELAY_CLOCK_TOPIC_MS = 10;
 static constexpr uint16_t DELAY_GPS_GLOBAL_ORIGIN_TOPIC_MS = 1000;
 static constexpr uint16_t DELAY_PING_MS = 500;
+static constexpr uint16_t DELAY_STATUS_TOPIC_MS = 500;


Can we make this event driven instead rather than poll?
This introduces as most 500mS delay on known the vehicle has failsafed which may be a long time.

Are there events I can use to drive this?

There are not. ArduPilot does not have any such architecture. The best approach is to poll the state quickly and only publish on change.

set to 100ms

Ryanf55 · 2024-10-08T00:12:12Z

Clean commits before merge.

rmackay9 · 2024-10-08T00:20:31Z

libraries/AP_DDS/AP_DDS_Client.cpp

+    msg.flying = AP_Notify::flags.flying;
+    uint8_t fs_iter = 0;
+    msg.failsafe_size = 0;
+    if ( AP_Notify::flags.failsafe_radio ) {


nitpick: little whitespace within the brackets

Whitespaces removed

tridge · 2024-10-08T00:20:43Z

libraries/AP_DDS/AP_DDS_Client.cpp

+{
+    // Fill the new message.
+    msg.vehicle_type = static_cast<uint8_t>(AP::fwversion().vehicle_type);
+    msg.armed = AP_Notify::flags.armed;


should be hal.util->get_soft_armed()

set as suggested

tridge · 2024-10-08T00:21:23Z

libraries/AP_DDS/AP_DDS_Client.cpp

+    msg.vehicle_type = static_cast<uint8_t>(AP::fwversion().vehicle_type);
+    msg.armed = AP_Notify::flags.armed;
+    msg.mode = AP::vehicle()->get_mode();
+    msg.flying = AP_Notify::flags.flying;


should be vehicle->get_likely_flying();

set as suggested

tridge · 2024-10-08T00:21:39Z

libraries/AP_DDS/AP_DDS_Client.cpp

+    // Fill the new message.
+    msg.vehicle_type = static_cast<uint8_t>(AP::fwversion().vehicle_type);
+    msg.armed = AP_Notify::flags.armed;
+    msg.mode = AP::vehicle()->get_mode();


should do const auto &vehicle = AP::vehicle();

set as suggested

tridge · 2024-10-08T00:22:26Z

libraries/AP_DDS/Idl/ardupilot_msgs/msg/Status.idl

+      const uint8 APM_AP_BOOTLOADER = 11;
+      const uint8 APM_BLIMP = 12;
+      const uint8 APM_HELI = 13;
+      const uint8 FS_RADIO = 1;


should this be a separate enum? seems odd to fix FS and APM_xxx

this is auto generated, I could set the value to start from 14.

I set the FS enums starting from 21

Ryanf55 · 2024-10-08T00:26:30Z

libraries/AP_DDS/AP_DDS_Client.cpp

+    if ( AP_Notify::flags.failsafe_radio ) {
+        msg.failsafe[fs_iter++] = FS_RADIO;
+    }
+    if ( AP_Notify::flags.failsafe_battery ) {


Use this from AP_BattMon

set as suggested

rmackay9 · 2024-10-08T00:29:46Z

libraries/AP_DDS/AP_DDS_Client.cpp

+    if ( AP_Notify::flags.failsafe_radio ) {
+        msg.failsafe[fs_iter++] = FS_RADIO;
+    }
+    if ( AP_Notify::flags.failsafe_battery ) {


I wonder if we could get the battery failsafe state from the battery library.

For RC, EKF and GCS failsafe we probably need to do what you've done here

I don't have an opinion about it, maybe we could port that limitation to a new issue?

tizianofiorenzani · 2024-10-08T18:14:23Z

I applied all the suggestions and tested in SITL/Plane again. Here is when a Low battery and RC failsafe has been triggered:

tizianofiorenzani mentioned this pull request Oct 7, 2024

AP_DDS: Provide vehicle type and mode #28301

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Ryanf55 added the ROS label Oct 7, 2024

Ryanf55 reviewed Oct 8, 2024

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Ryanf55 added the DevCallTopic label Oct 8, 2024

rmackay9 reviewed Oct 8, 2024

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tridge requested changes Oct 8, 2024

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tridge reviewed Oct 8, 2024

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CraigElder removed the DevCallTopic label Oct 8, 2024

Ryanf55 reviewed Oct 8, 2024

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rmackay9 reviewed Oct 8, 2024

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tizianofiorenzani force-pushed the wips/dds-status branch from 31ca9c3 to 25bed36 Compare October 8, 2024 17:49

tizianofiorenzani force-pushed the wips/dds-status branch 2 times, most recently from 3a5f232 to 54d5b9e Compare October 10, 2024 20:38

tizianofiorenzani requested a review from tridge October 17, 2024 16:05

AP_DDS: Vehicle Status publisher

4b1a421

tizianofiorenzani force-pushed the wips/dds-status branch from 54d5b9e to 4b1a421 Compare October 18, 2024 18:41

AP_DDS: Status message includes external_control flag

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AP_DDS: Status Message #28337

AP_DDS: Status Message #28337

tizianofiorenzani commented Oct 7, 2024 •

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AP_DDS: Status Message #28337

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tizianofiorenzani commented Oct 8, 2024 • edited Loading

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