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AP_DDS: Provide current Goal #28299

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tizianofiorenzani opened this issue Oct 3, 2024 · 3 comments
Open

AP_DDS: Provide current Goal #28299

tizianofiorenzani opened this issue Oct 3, 2024 · 3 comments

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@tizianofiorenzani
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tizianofiorenzani commented Oct 3, 2024

Provide current goal location to the DDS Interface

Providing the current goal would help to verify whether the vehicle is actually going where it has been guided to.

Proposed Solution

  • Create a new topic /ap/goal of type GeoPoseStamped, and use it to send the goal location.
  • The goal location in the DDS client should be recovered with AP::vehicle()->get_target_location(Location &target_loc);

Altitude frame

  • Goal could be either be converted to MSL or we could provide the altitude frame in the frame_id.

Platform
[ ] All
[ ] AntennaTracker
[ x] Copter
[ x] Plane
[ x] Rover
[ x] Submarine

@Ryanf55
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Ryanf55 commented Oct 3, 2024

In what situation does a companion computer not know what where the autopilot is headed? Won't all commands come from the companion computer over reliable transport?

@tizianofiorenzani
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Not really, as the goal is sent by topic, so you trust that the vehicle obeys, which I find it too flimsy.

@tizianofiorenzani
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Created a PR: #28372

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