Set Flight Mode using new interface set_flight_mode in DeviceImpl #206

Rjasuja · 2017-12-22T09:19:29Z

Modifies plugins to use set_flight_mode instead of using MAV_CMD_DO_SET_MODE
Issue : #193

shakthi-prashanth-m · 2017-12-29T05:35:48Z

core/device_impl.cpp

@@ -443,6 +444,40 @@ void DeviceImpl::get_param_float_async(const std::string &name,
                                            callback));
 }

+MavlinkCommands::Result DeviceImpl::set_flight_mode(uint8_t custom_sub_mode, uint8_t custom_mode)


Lets have DeviceImpl::FlightMode similar to Telemetry::FlightMode. Telemetry flight mode methods shall uses the services of those in DeviceImpl. We should have simple signature of set_flight_mode as below:

MavlinkCommands::Result DeviceImpl::set_flight_mode(DeviceImpl::FlightMode flight_mode);

I believe we can deduce custom_sub_mode and custom_mode from DeviceImpl::FlightMode.

shakthi-prashanth-m · 2017-12-29T05:37:34Z

core/device_impl.cpp

@@ -443,6 +444,40 @@ void DeviceImpl::get_param_float_async(const std::string &name,
                                            callback));
 }

+MavlinkCommands::Result DeviceImpl::set_flight_mode(uint8_t custom_sub_mode, uint8_t custom_mode)
+{
+    uint8_t flag_safety_armed = DeviceImpl::is_armed() ? MAV_MODE_FLAG_SAFETY_ARMED : 0;


is_armed() doesn't require explicit qualification, as it's a non-static method of DeviceImpl.

shakthi-prashanth-m

@Rjasuja as mentioned in review comments, we can simplify set_flight_mode signature. Also add get_flight_mode method too. These will also result changes in Telemetry plug-in as well.
Thanks.

shakthi-prashanth-m · 2018-01-03T09:04:03Z

core/device_impl.h

 class DeviceImpl
 {
 public:
+    enum FLIGHT_MODE {


it should be

enum FlightMode { HOLD = 0, TAKEOFF, LAND, RETURN_TO_LAUNCH, MISSION, OFFBOARD, FOLLOW_ME, }

And I'll add: it should be:

enum class FlightMode { ... }

shakthi-prashanth-m · 2018-01-03T09:05:41Z

core/device_impl.h

@@ -110,6 +119,8 @@ class DeviceImpl
    DeviceImpl(const DeviceImpl &) = delete;
    const DeviceImpl &operator=(const DeviceImpl &) = delete;

+


Please remove extra lines.

shakthi-prashanth-m · 2018-01-03T09:12:08Z

plugins/action/action_impl.cpp

    ret = action_result_from_command_result(
-              _parent->set_flight_mode(custom_sub_mode, custom_mode));
+              _parent->set_flight_mode(DeviceImpl::HOLD));


Flight modes are accessed as DeviceImpl::FlightMode::HOLD, etc.

shakthi-prashanth-m · 2018-01-03T09:13:16Z

plugins/action/action_impl.cpp


    return action_result_from_command_result(_parent->set_flight_mode(
-                                                 custom_sub_mode,
-                                                 custom_mode));
+                                                 DeviceImpl::RETURN_TO_LAUNCH));


Flight modes are accessed as DeviceImpl::FlightMode::RETURN_TO_LAUNCH, etc.

shakthi-prashanth-m · 2018-01-03T09:16:58Z

plugins/action/action_impl.cpp

    _parent->set_flight_mode_async(
-        custom_sub_mode, custom_mode,
+        DeviceImpl::HOLD,


We can rename HOLD flight mode to FlightMode::LOITER to be consistent with method name; or vice-versa.

The public name of the mode in PX4 is "Hold". The names from DroneCore should match what PX4 uses, which tends to also match what QGC uses in selection lists.

shakthi-prashanth-m · 2018-01-03T09:18:00Z

plugins/mission/mission_impl.cpp


    _activity = Activity::SEND_COMMAND;

    _parent->set_flight_mode_async(
-        custom_sub_mode, custom_mode,
+        DeviceImpl::MISSION,


DeviceImpl::MISSION -> DeviceImpl::FlightMode::MISSION

shakthi-prashanth-m · 2018-01-03T09:22:40Z

core/device_impl.cpp

+    uint8_t custom_sub_mode = 0;
+
+    switch (device_mode) {
+        case HOLD: custom_sub_mode = px4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER;


Please add custom_sub_mode = px4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER; next line for uniformity with other case values.

Names like loiter I believe may be used by the internal state machine, but are not the public facing names.

shakthi-prashanth-m · 2018-01-03T09:27:48Z

core/device_impl.cpp

+            break;
+        case OFFBOARD : custom_mode = px4::PX4_CUSTOM_MAIN_MODE_OFFBOARD;
+            break;
+        default : return ;


We need to handle for unsupported mode, like it is handled here.

shakthi-prashanth-m · 2018-01-03T09:30:06Z

plugins/follow_me/follow_me_impl.cpp

@@ -117,14 +117,9 @@ FollowMe::Result FollowMeImpl::start()
 {
    // Note: the safety flag is not needed in future versions of the PX4 Firmware


These comments do not make sense now :) It will be in set_flight_mode().

shakthi-prashanth-m · 2018-01-03T09:31:27Z

plugins/follow_me/follow_me_impl.cpp

@@ -149,13 +144,9 @@ FollowMe::Result FollowMeImpl::stop()
    }
    // Note: the safety flag is not needed in future versions of the PX4 Firmware


I think you can remove this comment everywhere it appeared other than in set_flight_mode().

shakthi-prashanth-m

Its simplified now except for some minor changes that I requested.
Thanks

julianoes

This is going to be handy, thanks for the changes.

julianoes · 2018-01-04T01:11:01Z

core/device_impl.h

 class DeviceImpl
 {
 public:
+    enum FLIGHT_MODE {


And I'll add: it should be:

enum class FlightMode { ... }

julianoes · 2018-01-04T01:12:38Z

core/device_impl.cpp

@@ -443,6 +444,86 @@ void DeviceImpl::get_param_float_async(const std::string &name,
                                            callback));
 }

+MavlinkCommands::Result DeviceImpl::set_flight_mode(FLIGHT_MODE device_mode)


I'm not sure if MavlinkCommands::Result is the correct result for a flight mode change. I vote that this has its own return type, and then map the CommandResult to a SetFlightMode result.

@julianoes As flight mode change is merely a MAVLink command operation, its result remains same; except for checking unsupported mode. Plugins should only use supported modes; but we are handling anyway for unsupported mode before sending command further. I think it should be fine. What do you think ?

I would vote to just return MavlinkCommand::ERROR for the case of an unsupported mode, and add a `LogErr() << "Unsupported mode".

The reason is that any plugin using any kind of command, now needs to catch the command error UNSUPPORTED_MODE even for commands that have nothing to do with mode, and that is not intuitive.

julianoes · 2018-01-08T15:26:20Z

@Rjasuja can you try to rebase on top of develop?

julianoes

Sorry, one more small thing.

julianoes · 2018-01-11T10:55:40Z

core/device_impl.cpp

+        case FlightMode::OFFBOARD:
+            custom_mode = px4::PX4_CUSTOM_MAIN_MODE_OFFBOARD;
+            break;
+        default :


In this case it would be helpful to add a LogErr() << "Unknown Flight mode chosen.";

julianoes · 2018-01-11T10:57:45Z

@Rjasuja thanks, I only have one minor comment, then please do a rebase. You can do this as follows (assuming origin is dronecore/DroneCore):

git checkout upstream3
git fetch origin
git rebase origin/develop
git push --force

Modifies plugins to use `set_flight_mode` instead of using MAV_CMD_DO_SET_MODE

Handles all Auto flight modes

Rjasuja · 2018-01-12T06:10:11Z

Updated and Rebased

julianoes · 2018-01-15T07:28:41Z

Thanks @Rjasuja!

shakthi-prashanth-m reviewed Dec 29, 2017

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shakthi-prashanth-m suggested changes Dec 29, 2017

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shakthi-prashanth-m reviewed Jan 3, 2018

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shakthi-prashanth-m suggested changes Jan 3, 2018

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julianoes requested changes Jan 4, 2018

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julianoes approved these changes Jan 8, 2018

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shakthi-prashanth-m approved these changes Jan 10, 2018

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julianoes requested changes Jan 11, 2018

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Rjasuja added 4 commits January 12, 2018 11:17

Set Flight Mode using new interface set_flight_mode in DeviceImpl

f84faaf

Modifies plugins to use `set_flight_mode` instead of using MAV_CMD_DO_SET_MODE

Simplify set_flight_mode API

cd5b6f3

Handles all Auto flight modes

Update DeviceImpl

8cb72f8

Change Error handling: UNSUPPORTED_MODE => ERROR

981f6f8

Rjasuja force-pushed the upstream3 branch from d4f2b00 to 981f6f8 Compare January 12, 2018 06:07

julianoes approved these changes Jan 15, 2018

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julianoes merged commit b6897ee into mavlink:develop Jan 15, 2018

shakthi-prashanth-m mentioned this pull request Jan 15, 2018

Exposing Flight mode APIs in core/device_impl.h #193

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mrpollo mentioned this pull request Jun 5, 2018

v1.0.0 Changelog scratchpad #417

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Set Flight Mode using new interface set_flight_mode in DeviceImpl #206

Set Flight Mode using new interface set_flight_mode in DeviceImpl #206

Rjasuja commented Dec 22, 2017

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		@@ -110,6 +119,8 @@ class DeviceImpl
		DeviceImpl(const DeviceImpl &) = delete;
		const DeviceImpl &operator=(const DeviceImpl &) = delete;

		@@ -117,14 +117,9 @@ FollowMe::Result FollowMeImpl::start()
		{
		// Note: the safety flag is not needed in future versions of the PX4 Firmware

		@@ -149,13 +144,9 @@ FollowMe::Result FollowMeImpl::stop()
		}
		// Note: the safety flag is not needed in future versions of the PX4 Firmware

Set Flight Mode using new interface set_flight_mode in DeviceImpl #206

Set Flight Mode using new interface set_flight_mode in DeviceImpl #206

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Rjasuja commented Dec 22, 2017

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