offboard: How to specify type of setpoint #588
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Also, does this affect other vehicle types? |
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@hamishwillee Awesome thanks! Yes, in case of the rover, loiter type setpoint will make the rover to stop when the rover is close enough to the setpoint. Other setpoints will make no difference for the normal behavior |
en/flight_modes/offboard.md
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| * Specify the *type* of the setpoint in `type_mask` (not part of the MAVLink standard). | ||
| The values are: | ||
| - Following bits not set: vehicle will fly in a flower-like pattern. |
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For fixed wing, the type masks are set from https://mavlink.io/en/messages/common.html#POSITION_TARGET_TYPEMASK. Unless POSITION_TARGET_TYPEMASK_X_IGNORE, POSITION_TARGET_TYPEMASK_Y_IGNORE, POSITION_TARGET_TYPEMASK_Z_IGNORE are set. This will make the position setpoints to be ignored.
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@Jaeyoung-Lim I am not certain what point you are making here. Is it it:
- That the pattern flown is not a flower-like pattern - ie it follows the input setpoings
- That all of these types are ignored if you're not a position setpoint
- Something else?
Just trying to understand what is wrong with what is written.
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@Jaeyoung-Lim Can you clarify. I'd like to push this in to docs early this week.
en/flight_modes/offboard.md
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| The values are: | ||
| - Following bits not set: vehicle will fly in a flower-like pattern. | ||
| - 4096: Takeoff setpoint. | ||
| - 8192: Land setpoint. |
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Take off / Land type setpoints are largely untested. I will have a look if this is still valid.
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Thanks, waiting on you for that then! I really need to understand why all of these are actually useful to know - ie what does/can code do differently if it knows a setpoint is being used to land a vehicle?
The reason I need this is that it will inform if the information is generically useful or just useful for PX4.
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@Jaeyoung-Lim Did you find out answer to this?
en/flight_modes/offboard.md
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| * Specify the *type* of the setpoint in `type_mask` (not part of the MAVLink standard). | ||
| The values are: | ||
| - Following bits not set then normal behaviour. | ||
| - 12288: Loiter setpoint (vehicle stops when close enough to setpoint). |
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@Jaeyoung-Lim What is "close enough"? Is there an acceptance radius defined somewhere?
Also see line above - what is "normal behaviour" - just tracking setpoint until actually on it according to GPS
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Yes, it will stop at the waypoint when it reaches the acceptance radius. Normal behavior would be that the setpoint is passed as a reference for the L1 controller
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- Acceptance radius is NAV_ACC_RAD?
- I have no idea what this means:
Normal behavior would be that the setpoint is passed as a reference for the L1 controller
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@Jaeyoung-Lim Can you confirm/answer?
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@hamishwillee Sorry for the late response hamish, the problem is that I would actually need to test all these setpoint types since I am not sure what they are doing
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@Jaeyoung-Lim Can we move this along? Appears to have stalled! |
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Thanks. Obviously I'd prefer to be exhaustive, but I guess you're saying "not value for effort" to test all these cases, and I'd probably agree. I will merge this, but can you confirm whether the type of setpoint is relevant to only position setpoints (?) or can/should a velocity setpoint also have a type (e.g. land setpoint)? To fix the merge setpoint I need to know :-) |
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@hamishwillee I think the setpoint types spread broader through groundstation interface .etc, and I think I lack the understanding on how this is used through out the system. (So using your words, it would be a lot of investment for me) I do want to understand better how this is used in the firmware, since I am repeatedly running into the problem. (PX4/PX4-Autopilot#14643) This is for position setpoints. |
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Thanks. I'll merge for now. It's useful information and we can always extend later. |
Hi @Jaeyoung-Lim
Decided to document PX4/PX4-Autopilot#13199 here because who knows when/if mavlink/mavlink#1250 might go in.
Please check