Navigator: Resume mission with last flight speed #21714
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/set-mission-speed-being-ignored-upon-starting-auto-flight/32705/2 |
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will likely need this in before the beaglebone is passing #21749 |
…mode This stored cruising speed setpoint is reset on mode change and after a VTOL transition. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Speed changes in a mission are handled directly in the position controllers, and no longer in Navigator. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Removed some speed handling logic from Navigator, and then rebased and force pushed. @tstastny would be good if you could make yourself a picture here and comment if you agree with the general direction of it (removing speed logic from Navigator). |
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I think it is an excellent feature to start from the previous setpoint. Can you update the docs @sfuhrer ? I was thinking perhaps a very short section on pausing and resuming the mission in https://docs.px4.io/main/en/flight_modes/mission.html#mission-mode. Make it clear this applies to all frames. |
* Navigator: DO_CHANGE_SPEED: only store sinlge cruising_speed_current_mode This stored cruising speed setpoint is reset on mode change and after a VTOL transition. * Navigator Mission: replay DO_CHANGE_SPEED items when resuming mission * Navigator: remove cruising_speed_sp_update() Speed changes in a mission are handled directly in the position controllers, and no longer in Navigator. Signed-off-by: Silvan Fuhrer <silvan@auterion.com> --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Based on #21710
Solved Problem
On resuming a mission, the flight speed was reset to the vehicle default. Especially for surveys this is not acceptable.
Solution
Further extend the ideas from #21710: some mission items contain not momentary setpoints (like go to point A), but instead contain settings that are then relevant for the whole mission (or until over-turned by a negating command).
DO_CHANGE_SPEED items belong to the same category as eg camera settings: you want to re-apply them when resuming a mission.
I've further removed the separated mc/fw stored flight speeds, as it's only ever needed to store the speed of the current mode we're in, and we reset it during VTOL transitions.
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