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Use raw missions in AutoPilot

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- uses MAVSDK::MissionRaw objects for missions
- added new state AZ_DRONE_STATE_MISSION_UPLOADED
- new state is used in AzDroneControllerPlane before waiting for AUTO switch

TODO!!
- move to AzMissionController
- use JSON file instead of hard coded mission items
This commit is contained in:
Tuomas Järvinen
2024-11-30 17:09:00 +01:00
parent be36fc5c50
commit 37e8cfd3fe
4 changed files with 182 additions and 16 deletions
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drone_controller/az_drone_controller_plane.cpp
+2 -1
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@@ -34,7 +34,8 @@ void AzDroneControllerPlane::droneStateMachineSlot(void)
{AZ_DRONE_STATE_GOT_SYSTEM, &AzDroneControllerPlane::stateGetTelemetryModule, "Getting telemetry module", 1000},
{AZ_DRONE_STATE_GOT_TELEMETRY_MODULE, &AzDroneControllerPlane::stateGetActionModule, "Getting action module", 1000},
{AZ_DRONE_STATE_GOT_ACTION_MODULE, &AzDroneControllerPlane::stateHealthOk, "Drone health OK", 1000},
{AZ_DRONE_STATE_HEALTH_OK, &AzDroneControllerPlane::stateWaitAutoSwitch, "User switched to AUTO mode", 1000},
{AZ_DRONE_STATE_HEALTH_OK, &AzDroneControllerPlane::stateUploadMission, "Uploading the mission", 1000},
{AZ_DRONE_STATE_MISSION_UPLOADED, &AzDroneControllerPlane::stateWaitAutoSwitch, "Waiting user to switch to ArduPilot AUTO mode", 1000},
{AZ_DRONE_STATE_AUTO_MODE_ACTIVATED, &AzDroneControllerPlane::stateFlyMission, "Starting the mission", 1000},
{AZ_DRONE_STATE_FLY_MISSION, nullptr, "Mission started", 0}};