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Added initial support for the ArduPlane. Added mandatory command line options.

Browse Source 
How to use ArduCopter:
  Launch simulator with command: "./Tools/autotest/sim_vehicle.py --map --console -v ArduCopter"
  Launch autopilot with command: "./autopilot mission.json quadcopter udp"

How to use ArduPlane:
  Launch simulator with command: "./Tools/autotest/sim_vehicle.py --map --console -v ArduPlane"
  Wait 30 seconds and give following commands in the same terminal
    arm throttle
    mode takeoff
  Launch autopilot with command: "./autopilot mission.json plane udp"

Type: New Feature
This commit is contained in:
Tuomas Järvinen
2024-06-02 08:33:57 +02:00
parent 33399370f3
commit 05722c0e09
4 changed files with 55 additions and 14 deletions
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src/az_drone_controller.cpp
+16 -7
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@@ -179,7 +179,7 @@ void AzDroneController::missionFinishedSlot(void)
void AzDroneController::droneStateMachineSlot(void)
{
static QString states[] = {
static const QString states[] = {
"DISCONNECTED",
"CONNECTED",
"AUTOPILOT",
@@ -205,7 +205,7 @@ void AzDroneController::droneStateMachineSlot(void)
int nextStateDelay;
};
const MethodInfo stateMethods[]
static const MethodInfo stateMethods[]
= {{AZ_DRONE_STATE_DISCONNECTED, &AzDroneController::stateConnect, "stateConnect()", 1000},
{AZ_DRONE_STATE_CONNECTED, &AzDroneController::stateAutopilot, "stateAutopilot()", 1000},
{AZ_DRONE_STATE_AUTOPILOT, &AzDroneController::stateTelemetryModule, "stateTelemetryModule()", 1000},
@@ -216,10 +216,10 @@ void AzDroneController::droneStateMachineSlot(void)
{AZ_DRONE_STATE_TAKE_OFF, &AzDroneController::stateFlyMission, "stateFlyMission()", 1000},
{AZ_DRONE_STATE_FLY_MISSION, nullptr, "No function to call. AzMissionControl running", 0}};
// Iterate through states. If state function fails, then it's tried again until it succeeds.
// Iterate through states. If the state function fails, it's repeated until it succeeds.
for (uint i = 0; i < sizeof(stateMethods) / sizeof(MethodInfo); i++) {
if (stateMethods[i].currentState == mDroneState) {
if ((int) mDroneState == (int) AZ_DRONE_STATE_FLY_MISSION) {
if (mDroneState == AZ_DRONE_STATE_FLY_MISSION) {
qDebug() << "AzMissionContoroller running. Waiting signals from it.";
return;
}
@@ -228,10 +228,17 @@ void AzDroneController::droneStateMachineSlot(void)
if (result) {
qDebug() << "AzDroneController::droneStateMachineSlot()" << stateMethods[i].description << "succeeded";
qDebug() << "AzDroneController::droneStateMachineSlot() calling next state function in"
<< stateMethods[i].nextStateDelay << "ms.";
mDroneState = stateMethods[i + 1].currentState;
qDebug() << "AzDroneController::droneStateMachineSlot() New state:" << states[(int) mDroneState];
// Quadcopter needs to iterate all states - plane will skip arming and takeoff
if (mDroneState == AZ_DRONE_STATE_READY_FOR_ARMING && QCoreApplication::arguments().contains("plane")) {
mDroneState = AZ_DRONE_STATE_TAKE_OFF;
qDebug() << "AzDroneController::droneStateMachineSlot() Skipping arming and takeoff for planes.";
}
else {
qDebug() << "AzDroneController::droneStateMachineSlot() New state:" << states[(int) mDroneState];
}
}
else {
qDebug() << "AzDroneController::droneStateMachineSlot()" << stateMethods[i].description
@@ -247,6 +254,8 @@ void AzDroneController::droneStateMachineSlot(void)
void AzDroneController::newPositionSlot(Telemetry::Position position)
{
qDebug() << "AzDroneController::newPositionSlot()" << position.latitude_deg << position.longitude_deg;
// Save first position. It will be used later to set altitude for missions.
// TODO!! Probably we want to use rangefinder or at least barometer with altitude from the map later.
if (mFirstPosition.relative_altitude_m < -1000) {