mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-23 22:58:10 +08:00
commander: implement external modes and mode executors
This commit is contained in:
Beat Küng
@@ -0,0 +1,34 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 request_id
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uint8 registration_id
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0
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uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19
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uint8 health_component_index # HEALTH_COMPONENT_INDEX_*
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bool health_component_is_present
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bool health_component_warning
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bool health_component_error
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bool can_arm_and_run # whether arming is possible, and if it's a navigation mode, if it can run
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uint8 num_events
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Event[5] events
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# Mode requirements
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bool mode_req_angular_velocity
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bool mode_req_attitude
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bool mode_req_local_alt
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bool mode_req_local_position
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bool mode_req_local_position_relaxed
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bool mode_req_global_position
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bool mode_req_mission
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bool mode_req_home_position
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bool mode_req_prevent_arming
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bool mode_req_manual_control
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uint8 ORB_QUEUE_LENGTH = 4
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@@ -0,0 +1,7 @@
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uint64 timestamp # time since system start (microseconds)
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# broadcast message to request all registered arming checks to be reported
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uint8 request_id
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@@ -49,6 +49,8 @@ set(msg_files
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Airspeed.msg
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AirspeedValidated.msg
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AirspeedWind.msg
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ArmingCheckReply.msg
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ArmingCheckRequest.msg
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AutotuneAttitudeControlStatus.msg
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BatteryStatus.msg
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ButtonEvent.msg
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@@ -161,6 +163,8 @@ set(msg_files
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RateCtrlStatus.msg
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RcChannels.msg
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RcParameterMap.msg
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RegisterExtComponentReply.msg
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RegisterExtComponentRequest.msg
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Rpm.msg
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RtlTimeEstimate.msg
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SatelliteInfo.msg
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@@ -198,6 +202,7 @@ set(msg_files
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UavcanParameterValue.msg
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UlogStream.msg
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UlogStreamAck.msg
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UnregisterExtComponent.msg
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VehicleAcceleration.msg
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VehicleAirData.msg
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VehicleAngularAccelerationSetpoint.msg
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@@ -0,0 +1,14 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 request_id # ID from the request
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char[25] name # name from the request
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uint16 px4_ros2_api_version
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bool success
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int8 arming_check_id # arming check registration ID (-1 if invalid)
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int8 mode_id # assigned mode ID (-1 if invalid)
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int8 mode_executor_id # assigned mode executor ID (-1 if invalid)
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uint8 ORB_QUEUE_LENGTH = 2
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@@ -0,0 +1,21 @@
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# Request to register an external component
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uint64 timestamp # time since system start (microseconds)
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uint64 request_id # ID, set this to a random value
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char[25] name # either the requested mode name, or component name
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uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
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uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION
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# Components to be registered
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bool register_arming_check
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bool register_mode # registering a mode also requires arming_check to be set
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bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
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bool enable_replace_internal_mode # set to true if an internal mode should be replaced
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uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
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bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
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uint8 ORB_QUEUE_LENGTH = 2
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@@ -0,0 +1,10 @@
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uint64 timestamp # time since system start (microseconds)
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char[25] name # either the mode name, or component name
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int8 arming_check_id # arming check registration ID (-1 if not registered)
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int8 mode_id # assigned mode ID (-1 if not registered)
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int8 mode_executor_id # assigned mode executor ID (-1 if not registered)
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@@ -174,8 +174,10 @@ uint32 command # Command ID
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uint8 target_system # System which should execute the command
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uint8 target_component # Component which should execute the command, 0 for all components
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uint8 source_system # System sending the command
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uint8 source_component # Component sending the command
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uint16 source_component # Component / mode executor sending the command
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uint8 confirmation # 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
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bool from_external
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# TOPICS vehicle_command gimbal_v1_command
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uint16 COMPONENT_MODE_EXECUTOR_START = 1000
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# TOPICS vehicle_command gimbal_v1_command vehicle_command_mode_executor
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@@ -28,6 +28,6 @@ uint8 result # Command result
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uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS
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int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
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uint8 target_system
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uint8 target_component
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uint16 target_component # Target component / mode executor
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bool from_external # Indicates if the command came from an external source
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@@ -15,3 +15,8 @@ bool flag_control_altitude_enabled # true if altitude is controlled
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bool flag_control_climb_rate_enabled # true if climb rate is controlled
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bool flag_control_termination_enabled # true if flighttermination is enabled
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bool flag_control_allocation_enabled # true if control allocation is enabled
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# TODO: use dedicated topic for external requests
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uint8 source_id # Mode ID (nav_state)
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# TOPICS vehicle_control_mode config_control_setpoints
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+11
-1
@@ -52,7 +52,17 @@ uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
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uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
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uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
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uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
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uint8 NAVIGATION_STATE_MAX = 23
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uint8 NAVIGATION_STATE_EXTERNAL1 = 23
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uint8 NAVIGATION_STATE_EXTERNAL2 = 24
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uint8 NAVIGATION_STATE_EXTERNAL3 = 25
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uint8 NAVIGATION_STATE_EXTERNAL4 = 26
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uint8 NAVIGATION_STATE_EXTERNAL5 = 27
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uint8 NAVIGATION_STATE_EXTERNAL6 = 28
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uint8 NAVIGATION_STATE_EXTERNAL7 = 29
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uint8 NAVIGATION_STATE_EXTERNAL8 = 30
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uint8 NAVIGATION_STATE_MAX = 31
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uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
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# Bitmask of detected failures
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uint16 failure_detector_status
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