Difference between revisions of "Day 4"

Latest revision as of 22:59, 7 August 2018

First implementation of /missioncontroller ROS node (it should publish a take off mavros_msg/sendtext on /mavros/sendtext/send topic)
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:
  1. export PX4_HOME_LAT=46.452895
  2. export PX4_HOME_LON=11.490920
  3. export PX4_HOME_ALT=1415
New repository config:
- Created repository mavlink-library-v2 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 ofbambi/build/mavlink/include/v2.0. Then it is required to update submodules of px4-firmware-bambi to make sure it is up-to-date
Push on bambi repo a primitive missioncontroller node which arm and lets the quad to take off. Up to now we use /mavros/cmd/takeoff 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 /mavros/cmd/command service which allow to send any COMMAND_LONG MAVlink messages.

@@ Line 8: / Line 8: @@
 #* 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 submodule of <code>px4-firmware-bambi</code> to make sure it is up-to-date
+#** 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.