simple_offboard: correctly check manual control timeout, separate it from kill switch check

* docs: add description about coex pix 1.2

* docs: Add new revision 1.2 schemes

* docs: More changes added

clover/launch/led.launch

@@ -2,14 +2,17 @@
     <arg name="ws281x" default="true"/>
     <arg name="led_effect" default="true"/>
     <arg name="led_notify" default="true"/>
+    <arg name="led_count" default="58"/>
+    <arg name="gpio_pin" default="21"/>
+
     <arg name="simulator" default="false"/>
 
     <!-- For additional help go to https://clover.coex.tech/led -->
 
     <!-- ws281x led strip driver -->
     <node pkg="ws281x" name="led" type="ws281x_node" clear_params="true" output="screen" if="$(eval ws281x and not simulator)">
-        <param name="led_count" value="58"/>
-        <param name="gpio_pin" value="21"/>
+        <param name="led_count" value="$(arg led_count)"/>
+        <param name="gpio_pin" value="$(arg gpio_pin)"/>
         <param name="brightness" value="64"/>
         <param name="strip_type" value="WS2811_STRIP_GRB"/>
         <param name="target_frequency" value="800000"/>
@@ -32,7 +35,7 @@
             altctl: { r: 255, g: 255, b: 40 }
             posctl: { r: 50, g: 100, b: 220 }
             offboard: { r: 220, g: 20, b: 250 }
-            low_battery: { threshold: 3.7, effect: blink_fast, r: 255, g: 0, b: 0 }
+            low_battery: { threshold: 3.6, effect: blink_fast, r: 255, g: 0, b: 0 }
             error: { effect: flash, r: 255, g: 0, b: 0 }
         </rosparam>
     </node>

clover/launch/main_camera.launch

@@ -9,6 +9,8 @@
     <node if="$(eval direction_z == 'down' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 1.5707963 0 0 base_link main_camera_optical"/>
     <node if="$(eval direction_z == 'up' and direction_y == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'forward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.03 0 0.05 -1.5707963 0 -1.5707963 base_link main_camera_optical"/>
+    <node if="$(eval direction_z == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="-0.03 0 0.05 1.5707963 0 -1.5707963 base_link main_camera_optical"/>
 
     <!-- Template for custom camera orientation -->
     <!-- Camera position and orientation are represented by base_link -> main_camera_optical transform -->

clover/src/simple_offboard.cpp

@@ -36,6 +36,7 @@
 #include <mavros_msgs/Thrust.h>
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
+#include <mavros_msgs/ManualControl.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -72,9 +73,10 @@ ros::Duration state_timeout;
 ros::Duration velocity_timeout;
 ros::Duration global_position_timeout;
 ros::Duration battery_timeout;
+ros::Duration manual_control_timeout;
 float default_speed;
 bool auto_release;
-bool land_only_in_offboard, nav_from_sp;
+bool land_only_in_offboard, nav_from_sp, check_kill_switch;
 std::map<string, string> reference_frames;
 
 // Publishers
@@ -122,6 +124,7 @@ enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
+mavros_msgs::ManualControl manual_control;
 PoseStamped local_position;
 TwistStamped velocity;
 NavSatFix global_position;
@@ -486,6 +489,21 @@ void publishSetpoint(const ros::TimerEvent& event)
 	publish(event.current_real);
 }
 
+inline void checkManualControl()
+{
+	if (!manual_control_timeout.isZero() && TIMEOUT(manual_control, manual_control_timeout)) {
+		throw std::runtime_error("Manual control timeout, RC is switched off?");
+	}
+
+	if (check_kill_switch) {
+		const int KILL_SWITCH_BIT = 12; // https://github.com/PX4/Firmware/blob/c302514a0809b1765fafd13c014d705446ae1113/src/modules/mavlink/mavlink_messages.cpp#L3975
+		bool kill_switch = manual_control.buttons & (1 << KILL_SWITCH_BIT);
+
+		if (kill_switch)
+			throw std::runtime_error("Kill switch is on");
+	}
+}
+
 inline void checkState()
 {
 	if (TIMEOUT(state, state_timeout))
@@ -513,6 +531,10 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 		// Checks
 		checkState();
 
+		if (auto_arm) {
+			checkManualControl();
+		}
+
 		// default frame is local frame
 		if (frame_id.empty())
 			frame_id = local_frame;
@@ -834,6 +856,7 @@ int main(int argc, char **argv)
 	nh_priv.param("auto_release", auto_release, true);
 	nh_priv.param("land_only_in_offboard", land_only_in_offboard, true);
 	nh_priv.param("nav_from_sp", nav_from_sp, true);
+	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
 	nh_priv.getParam("reference_frames", reference_frames);
@@ -843,6 +866,7 @@ int main(int argc, char **argv)
 	velocity_timeout = ros::Duration(nh_priv.param("velocity_timeout", 2.0));
 	global_position_timeout = ros::Duration(nh_priv.param("global_position_timeout", 10.0));
 	battery_timeout = ros::Duration(nh_priv.param("battery_timeout", 2.0));
+	manual_control_timeout = ros::Duration(nh_priv.param("manual_control_timeout", 0.0));
 
 	transform_timeout = ros::Duration(nh_priv.param("transform_timeout", 0.5));
 	telemetry_transform_timeout = ros::Duration(nh_priv.param("telemetry_transform_timeout", 0.5));
@@ -860,6 +884,7 @@ int main(int argc, char **argv)
 	auto global_position_sub = nh.subscribe("mavros/global_position/global", 1, &handleMessage<NavSatFix, global_position>);
 	auto battery_sub = nh.subscribe("mavros/battery", 1, &handleMessage<BatteryState, battery>);
 	auto statustext_sub = nh.subscribe("mavros/statustext/recv", 1, &handleMessage<mavros_msgs::StatusText, statustext>);
+	auto manual_control_sub = nh.subscribe("mavros/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &handleLocalPosition);
 
 	// Setpoint publishers

clover_blocks/README.md

@@ -30,7 +30,9 @@ The frontend files are located in [`www`](./www/) subdirectory. The frontend app
 Parameters read by frontend:
 
 * `~navigate_tolerance` (*float*) – distance tolerance in meters, used for navigate-like blocks (default: 0.2).
+* `~yaw_tolerance` (*float*) – yaw angle tolerance in degrees, used in set_yaw block (default: 20).
 * `~sleep_time` (*float*) – duration of sleep in loop cycles, used for navigate-like blocks (default: 0.2).
+* `~confirm_run` (*bool*) – enable confirmation to run the program (default: true).
 
 These parameters also can be set as URL GET-parameters, for example:
 

clover_blocks/src/clover_blocks

@@ -1,5 +1,13 @@
 #!/usr/bin/env python
 
+# Copyright (C) 2020 Copter Express Technologies
+#
+# Author: Oleg Kalachev <okalachev@gmail.com>
+#
+# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
 from __future__ import print_function
 
 import rospy

clover_blocks/www/blocks.js

@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 const COLOR_FLIGHT = 293;
 const COLOR_STATE = 36;
 const COLOR_LED = 143;

clover_blocks/www/main.js

@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 import * as ros from './ros.js';
 import './blocks.js';
 import {generateCode, generateUserCode} from './python.js';
@@ -29,7 +39,9 @@ var workspace = Blockly.inject('blockly', {
 function readParams() {
 	return Promise.all([
 		ros.readParam('navigate_tolerance', true, 0.2),
-		ros.readParam('sleep_time', true, 0.2)
+		ros.readParam('yaw_tolerance', true, 20),
+		ros.readParam('sleep_time', true, 0.2),
+		ros.readParam('confirm_run', true, true),
 	]);
 }
 
@@ -97,7 +109,7 @@ new ROSLIB.Topic({ ros: ros.ros, name: ros.priv + 'prompt', messageType: 'clover
 		name: ros.priv + 'input/' + msg.id,
 		messageType: 'std_msgs/String',
 		latch: true
-	}).publish(new ROSLIB.Message({ data: response }));
+	}).publish(new ROSLIB.Message({ data: response || '' }));
 });
 
 window.stopProgram = function() {
@@ -113,7 +125,7 @@ ros.ros.on('close', update);
 ready.then(() => runButton.disabled = false);
 
 window.runProgram = function() {
-	if (!confirm('Run program?')) return;
+	if (ros.params.confirm_run && !confirm('Run program?')) return;
 
 	runRequest = true;
 	update();

clover_blocks/www/python.js

@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 import {params} from './ros.js';
 
 // If any new block imports any library, add that library name here.
@@ -8,14 +18,9 @@ Blockly.Python.addReservedWords('pigpio,pi,Range');
 Blockly.Python.addReservedWords('SetLEDEffect,set_effect');
 Blockly.Python.addReservedWords('SetLEDs,LEDState,set_leds');
 
-// TODO: parametrize
-const navigate_tolerance = 0.2;
-const sleep_time = 0.2;
-
 const IMPORT_SRV = `from clover import srv
 from std_srvs.srv import Trigger`;
 
-// TODO: tolerance to parameters
 const NAVIGATE_WAIT = () => `\ndef navigate_wait(x=0, y=0, z=0, speed=0.5, frame_id='body', auto_arm=False):
     res = navigate(x=x, y=y, z=z, yaw=float('nan'), speed=speed, frame_id=frame_id, auto_arm=auto_arm)
 
@@ -33,15 +38,13 @@ const LAND_WAIT = () => `\ndef land_wait():
     while get_telemetry().armed:
         rospy.sleep(${params.sleep_time})\n`;
 
-// TODO: tolerance to parameters
 const WAIT_YAW = () => `\ndef wait_yaw():
     while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
-        if abs(telem.yaw) < math.radians(20):
+        if abs(telem.yaw) < math.radians(${params.yaw_tolerance}):
             return
         rospy.sleep(${params.sleep_time})\n`;
 
-// TODO: tolerance to parameters
 const WAIT_ARRIVAL = () => `\ndef wait_arrival():
     while not rospy.is_shutdown():
         telem = get_telemetry(frame_id='navigate_target')
@@ -49,7 +52,6 @@ const WAIT_ARRIVAL = () => `\ndef wait_arrival():
             return
         rospy.sleep(${params.sleep_time})\n`;
 
-// TODO: tolerance to parameters
 const ARRIVED = () => `\ndef arrived():
     telem = get_telemetry(frame_id='navigate_target')
     return math.sqrt(telem.x ** 2 + telem.y ** 2 + telem.z ** 2) < ${params.navigate_tolerance}\n`

clover_blocks/www/ros.js

@@ -1,3 +1,13 @@
+/*
+ * Copyright (C) 2020 Copter Express Technologies
+ *
+ * Author: Oleg Kalachev <okalachev@gmail.com>
+ *
+ * Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ */
+
 var url = 'ws://' + location.hostname + ':9090';
 export var ros = new ROSLIB.Ros({ url });
 

docs/assets/right-hand-rule.svg

@@ -1,87 +0,0 @@
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