AP_DDS: External Control enable #28429
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| @@ -636,6 +637,13 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin | |||
| (void) request_id; | |||
| (void) stream_id; | |||
| (void) length; | |||
| auto *external_control = AP::externalcontrol(); | |||
| // TODO: Replace this line before merging. I leave the Joystick control always enable to test the RC functionality. | |||
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Replace this before merging.
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@Ryanf55 what is the best way to make it testable? |
I'd do something like a mock flyaway recovery.
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I've replicated your behavior, looks great! I think this is a nice clean way for a GCS to take authority from a companion computer.
Running SITL
ros2 launch ardupilot_sitl sitl_dds_udp.launch.py transport:=udp4 synthetic_clock:=True wipe:=False model:=quad speedup:=1 slave:=0 instance:=0 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_udp.parm sim_address:=127.0.0.1 master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
mavproxy
param set RC6_OPTION 181
reboot
Then use the CLI to test with joystick.
| @@ -740,8 +750,13 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u | |||
| break; | |||
| } | |||
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| GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for %sing received", msg_prefix, arm_motors_request.arm ? "arm" : "disarm"); | |||
| arm_motors_response.result = arm_motors_request.arm ? AP::arming().arm(AP_Arming::Method::DDS) : AP::arming().disarm(AP_Arming::Method::DDS); | |||
| if (external_control->is_enabled()) { | |||
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We should ask the dev team whether they want to put arming in external control and push all control handover logic into external control for things like arming, mode change, joystick, etc.
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I would also ask the Dev team, what is the best way to add this functionality to the Ground Station? Maybe Using the Mavlink MAV_CMD_NAV_GUIDED_ENABLE message?
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User Story
As an operator, I want to be able to completely cut off any external control from the DDS interface. This functionality is especially helpful during debugging tests, when a quick reaction is of utmost importance.
I would like to be able to assign a switch to Enable/Disable external control, as well as the ability for a script or an external GCS to trigger External Control.
What Changed
false.DDS_EXTERNAL_CONTROL = 181which allows a channel to enable External control when HIGH.Test
/ap/joysubscription always active, so it's easy to emulate an RC input.ros2 topic pub /ap/joy sensor_msgs/msg/Joy "{axes: [0.0, 0.0, .nan, .nan, .nan, -1]}"ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "arm: true"ros2 topic pub /ap/joy sensor_msgs/msg/Joy "{axes: [0.0, 0.0, .nan, .nan, .nan, 1]}"ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "arm: true"