Difference between revisions of "Day 4"
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| − | # First implementation of <code>/missioncontroller</code> ROS node (it should publish a <code>mavros_msg/sendtext</code> on <code>/mavros/sendtext/send</code> topic) | + | # First implementation of <code>/missioncontroller</code> ROS node (it should publish a take off <code>mavros_msg/sendtext</code> on <code>/mavros/sendtext/send</code> topic) |
# Find out that the starting position of PX4 simulation is hard-coded in <code>/Tools/sitl_gazebo/include/gazebo_gps_plugin.h</code> | # Find out that the starting position of PX4 simulation is hard-coded in <code>/Tools/sitl_gazebo/include/gazebo_gps_plugin.h</code> | ||
#* Add this to your .bashrc: | #* Add this to your .bashrc: | ||
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#*#<code>export PX4_HOME_LON=11.490920</code> | #*#<code>export PX4_HOME_LON=11.490920</code> | ||
#*#<code>export PX4_HOME_ALT=1415</code> | #*#<code>export PX4_HOME_ALT=1415</code> | ||
| + | # New repository config: | ||
| + | #* Created repository <code>mavlink-library-v2</code> as a fork in BambiSaver repo to use it as a submodule in PX4 Firmware | ||
| + | #** Updatet it with current mavlink msg header build output | ||
| + | #** N.B Every time .xml messsage definition is updated we should update the forked repository pushing the content of<code>bambi/build/mavlink/include/v2.0</code>. Then it is required to update submodules of <code>px4-firmware-bambi</code> to make sure it is up-to-date | ||
| + | #Push on bambi repo a primitive <code>missioncontroller</code> node which arm and lets the quad to take off. Up to now we use <code>/mavros/cmd/takeoff</code> service which only sends MAV_CMD_NAV_TAKEOFF forcing us to set an absolute ground altitude. It would be convenient to use a relative altitude using MAV_CMD_NAV_TAKEOFF_LOCAL message. This can be done using <code>/mavros/cmd/command</code> service which allow to send any <code>COMMAND_LONG</code> MAVlink messages. | ||
Latest revision as of 22:59, 7 August 2018
- First implementation of
/missioncontrollerROS node (it should publish a take offmavros_msg/sendtexton/mavros/sendtext/sendtopic) - Find out that the starting position of PX4 simulation is hard-coded in
/Tools/sitl_gazebo/include/gazebo_gps_plugin.h- Add this to your .bashrc:
export PX4_HOME_LAT=46.452895export PX4_HOME_LON=11.490920export PX4_HOME_ALT=1415
- Add this to your .bashrc:
- New repository config:
- Created repository
mavlink-library-v2as a fork in BambiSaver repo to use it as a submodule in PX4 Firmware- Updatet it with current mavlink msg header build output
- N.B Every time .xml messsage definition is updated we should update the forked repository pushing the content of
bambi/build/mavlink/include/v2.0. Then it is required to update submodules ofpx4-firmware-bambito make sure it is up-to-date
- Created repository
- Push on bambi repo a primitive
missioncontrollernode which arm and lets the quad to take off. Up to now we use/mavros/cmd/takeoffservice which only sends MAV_CMD_NAV_TAKEOFF forcing us to set an absolute ground altitude. It would be convenient to use a relative altitude using MAV_CMD_NAV_TAKEOFF_LOCAL message. This can be done using/mavros/cmd/commandservice which allow to send anyCOMMAND_LONGMAVlink messages.
