Clarify which setpoints supported #545
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| * Velocity setpoint (only) | ||
| * *Thrust* setpoint (only) | ||
| > **Note** Acceleration setpoint values are mapped to create a normalized thrust setpoint (i.e. acceleration setpoints are no "properly" supported). | ||
| * Position setpoint **and** velocity setpoint (velocity used as feedforward) | ||
| - PX4 supports the coordinate frames (`coordinate_frame` field): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). | ||
| * [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - Control vehicle attitude/orientation. | ||
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| ### Fixed Wing | ||
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| * [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - Control vehicle attitude/body rates. |
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Don't know the current state of FW offboard support.
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@RomanBapst Can you comment on this?
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@mrivi You are a regular offboard user, do you know about this?
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@RomanBapst @hamishwillee - as far as I know position setpoint support for FW was brought in with PX4/PX4-Autopilot#12532 . However I have never tried offboard with FW myself
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@Jaeyoung-Lim Thanks!
- What do you mean attitude/body rates? Dumb question? Well the message refers to position, velocity and acceleration and I want to make sure that we mean the same thing - so how to they map?
- If you look at the copter docs, they are very precise about what we support: http://docs.px4.io/master/en/flight_modes/offboard.html#coptervtol - Can you provide similar for FW?
Or to put it another way, it sounds like we support messages that contain a position setpoint (only), and a velocity setpoint (only). However it is not clear for FW whether we support acceleration setpoints, and whether any combinations are supported.
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@hamishwillee By attitude / bodyrates, I meant the support for SET_ATTITUDE_TARGET message. I think I will be able to add information for FW in the doc.
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@Jaeyoung-Lim ! That makes a lot more sense - sorry. A PR would be great - do you think you can do this next week?
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@hamishwillee Sure, just to be sure this is not about PX4/PX4-Autopilot#12532 but more clarity on the SET_ATTITUDE_TARGET message? I will add a PR for PX4/PX4-Autopilot#12532 on a separate PR
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@Jaeyoung-Lim To be clear, it is about making our docs on offboard mode accurately document what commands are supported - and how they are supported if they do not support all combinations options in the message definition :-) So it is about both. But it may be that we already say all we need to about SET_ATTITUDE_TARGET.
Right now we say that:
"SET_ATTITUDE_TARGET - Control vehicle attitude/body rates.
The assumption is that this supports all options/variants as per the linked definition. If that is the case then we don't need to say more about this message. If we don't do every possible permutation of that message we should state how we differ/what is not supported.
For PX4/PX4-Autopilot#12532 ... we currently say:
Position setpoints are not supported on Fixed Wing offboard mode (SET_POSITION_TARGET_LOCAL_NED).
So basically when PX4/PX4-Autopilot#12532 goes in we will need to update the docs to remove that note and state exactly what set of combinations of position, velocity, accel setpoints we support.
Hope that clarifies.
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Thanks @tuloski - typo fixed inhttps://github.com/PX4/px4_user_guide/commit/b13886e6bab366d7de60a63039f3953eee54748e |
Fixes #514
@Stifael @MaEtUgR Would appreciate your review. Comments inline.