AP_DDS: Added direct actuator control #29179
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snktshrma
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| } | ||
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| guided_motor_state.update_time_ms = millis(); | ||
| memcpy(guided_motor_state.actuator, actuator, AP_MOTORS_MAX_NUM_MOTORS * sizeof(float)); |
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| memcpy(guided_motor_state.actuator, actuator, AP_MOTORS_MAX_NUM_MOTORS * sizeof(float)); | |
| memcpy(guided_motor_state.actuator, actuator, ARRAY_SIZE(guided_motor_state.actuator)); |
If you changed to double in the actuators, then this would not require a change.
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Hi @Ryanf55 ! So ARRAY_SIZE gives number of elements and because of that it will not copy anything after 8th element(32bytes). Either way you suggest using double(float64) instead of float32?
ArduCopter/mode_guided.cpp
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| uint32_t tnow = millis(); | ||
| if (tnow - guided_motor_state.update_time_ms > get_timeout_ms()) { |
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| uint32_t tnow = millis(); | |
| if (tnow - guided_motor_state.update_time_ms > get_timeout_ms()) { | |
| if (millis()- guided_motor_state.update_time_ms > get_timeout_ms()) { |
No need for the local if you only use it once.
| @@ -0,0 +1,2 @@ | |||
| builtin_interfaces/Time timestamp # ms | |||
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Can you add documentation what this message is for. Something like
"Control the direct motor outputs of the vehicle"
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Done!
Also I have modified the actuator array length to 32 in sync with AP_MOTORS_MAX_NUM_MOTORS.
| .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::MOTOR_CONTROL_SUB), .type=UXR_DATAWRITER_ID}, | ||
| .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::MOTOR_CONTROL_SUB), .type=UXR_DATAREADER_ID}, | ||
| .topic_rw = Topic_rw::DataReader, | ||
| .topic_name = "rt/ap/cmd_mot", |
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Should we make this an experimental topic till we've flown it on a vehicle?
snktshrma
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This adds a new topic /ap/cmd_mot to allow external controllers control actuators directly. This adds support for external controller and planners (MPC, etc) to handle actuator control directly.
To run:
param set DISARM_DELAY 0ros2 topic pub /ap/experimental/cmd_mot ardupilot_msgs/msg/MotorControl "{timestamp: {sec: 0, nanosec: 0}, actuator: [0.7, 0.7, 0.7, 0.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"This addition currently doesn't support case where publisher stops and switches the vehicle to a stable mode. In that case, the actuator output just resets to 0 (Min PWM) if no updates are received.