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Significant update to simple_offboard node

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* Allow using nans for most of services parameters
* Add terrain frame
* Remove yaw_rate parameter from most services
* Add set_yaw and set_yaw_rate services
* Correct order for pitch and roll everywhere to match XYZ convention
* Add simple_offboard/state topic
* Add essential tests
* Stop publishing setpoints when land called
This commit is contained in:
Oleg Kalachev
2023-01-12 11:00:05 +03:00
parent 460c3fdbe1
commit 0cfdac43ec
27 changed files with 942 additions and 260 deletions
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4
docs/en/parameters.md
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@@ -60,8 +60,8 @@ The `SYS_MC_EST_GROUP` parameter defines the estimator subsystem to use.
Estimator subsystem is a group of modules that calculates the current state of the copter using readings from the sensors. The copter state includes:
* Angle rate of the copter – pitch_rate, roll_rate, yaw_rate;
* Copter orientation (in the local coordinate system) – pitch, roll, yaw (one of presentations);
* Angle rate of the copter – roll_rate, pitch_rate, yaw_rate;
* Copter orientation (in the local coordinate system) – roll, pitch, yaw (one of presentations);
* Copter position (in the local coordinate system) – x, y, z;
* Copter speed (in the local coordinate system) – vx, vy, vz;
* Global coordinates of the copter – latitude, longitude, altitude;

12
docs/en/simple_offboard.md
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@@ -51,11 +51,11 @@ Response format:
* `lat, lon` – drone latitude and longitude *(degrees)*, requires [GPS](gps.md) module;
* `alt` – altitude in the global coordinate system (according to [WGS-84](https://ru.wikipedia.org/wiki/WGS_84) standard, not <abbr title="Above Mean Sea Level">AMSL</abbr>!), requires [GPS](gps.md) module;
* `vx, vy, vz` – drone velocity *(m/s)*;
* `pitch` – pitch angle *(radians)*;
* `roll` – roll angle *(radians)*;
* `pitch` – pitch angle *(radians)*;
* `yaw` — yaw angle *(radians)*;
* `pitch_rate` — angular pitch velocity *(rad/s)*;
* `roll_rate` – angular roll velocity *(rad/s)*;
* `pitch_rate` — angular pitch velocity *(rad/s)*;
* `yaw_rate` – angular yaw velocity *(rad/s)*;
* `voltage` – total battery voltage *(V)*;
* `cell_voltage` – battery cell voltage *(V)*.
@@ -261,22 +261,22 @@ set_velocity(vx=1, vy=0.0, vz=0, frame_id='body')
### set_attitude
Set pitch, roll, yaw and throttle level (similar to [the `STABILIZED` mode](modes.md)). This service may be used for lower level control of the drone behavior, or controlling the drone when no reliable data on its position is available.
Set roll, pitch, yaw and throttle level (similar to [the `STABILIZED` mode](modes.md)). This service may be used for lower level control of the drone behavior, or controlling the drone when no reliable data on its position is available.
Parameters:
* `pitch`, `roll`, `yaw` – requested pitch, roll, and yaw angle *(radians)*;
* `roll`, `pitch`, `yaw` – requested roll, pitch, and yaw angle *(radians)*;
* `thrust` — throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
* `auto_arm` – switch the drone to `OFFBOARD` mode and arm automatically (**the drone will take off**);
* `frame_id` – [coordinate system](frames.md) for `yaw` (Default value: `map`).
### set_rates
Set pitch, roll, and yaw rates and the throttle level (similar to [the `ACRO` mode](modes.md)). This is the lowest drone control level (excluding direct control of motor rotation speed). This service may be used to automatically perform aerobatic tricks (e.g., flips).
Set roll, pitch, and yaw rates and the throttle level (similar to [the `ACRO` mode](modes.md)). This is the lowest drone control level (excluding direct control of motor rotation speed). This service may be used to automatically perform aerobatic tricks (e.g., flips).
Parameters:
* `pitch_rate`, `roll_rate`, `yaw_rate` – pitch, roll, and yaw rates *(rad/s)*;
* `roll_rate`, `pitch_rate`, `yaw_rate` – pitch, roll, and yaw rates *(rad/s)*;
* `thrust` — throttle level, ranges from 0 (no throttle, propellers are stopped) to 1 (full throttle).
* `auto_arm` – switch the drone to `OFFBOARD` and arm automatically (**the drone will take off**);

8
docs/en/snippets.md
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@@ -144,7 +144,7 @@ Determine whether the copter is turned upside-down:
PI_2 = math.pi / 2
telem = get_telemetry()
flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
```
### # {#angle-hor}
@@ -155,8 +155,8 @@ Calculate the copter horizontal angle:
PI_2 = math.pi / 2
telem = get_telemetry()
flipped = not -PI_2 <= telem.pitch <= PI_2 or not -PI_2 <= telem.roll <= PI_2
angle_to_horizon = math.atan(math.hypot(math.tan(telem.pitch), math.tan(telem.roll)))
flipped = not -PI_2 <= telem.roll <= PI_2 or not -PI_2 <= telem.pitch <= PI_2
angle_to_horizon = math.atan(math.hypot(math.tan(telem.roll), math.tan(telem.pitch)))
if flipped:
angle_to_horizon = math.pi - angle_to_horizon
```
@@ -324,7 +324,7 @@ def flip():
while True:
telem = get_telemetry()
flipped = abs(telem.pitch) > PI_2 or abs(telem.roll) > PI_2
flipped = abs(telem.roll) > PI_2 or abs(telem.pitch) > PI_2
if flipped:
break