I would like to introduce some yaw/turn rate control capability to plane through the ROS2/DDS interface
Problem/Solution Thoughts
Is there a way to tap into what was done either with the nav_scripting or how the mavlink command to SET_ATTITUDE_TARGET gets handled for guided mode?
For the NAV_SCRIPTING, if there's some capability to set the conditions to have it also be when DDS is enabled and give it similar control authority that could be a path forward.
Or with the handling of the mavlink SET_ATTITUDE_TARGET message in ArduPlane/GCS_Mavlink.cpp it looks like we can set guided state values, and throttle. Could this be repurposed as a DDS external control ability to command attitude and throttle?
Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[ x ] Plane
[ ] Rover
[ ] Submarine
Additional context
Looks like similar work was done on this PR: #26143
Ryanf55
commented
1 week ago
I would like to introduce some yaw/turn rate control capability to plane through the ROS2/DDS interface
Problem/Solution Thoughts Is there a way to tap into what was done either with the nav_scripting or how the mavlink command to SET_ATTITUDE_TARGET gets handled for guided mode?
For the NAV_SCRIPTING, if there's some capability to set the conditions to have it also be when DDS is enabled and give it similar control authority that could be a path forward.
Or with the handling of the mavlink SET_ATTITUDE_TARGET message in ArduPlane/GCS_Mavlink.cpp it looks like we can set guided state values, and throttle. Could this be repurposed as a DDS external control ability to command attitude and throttle?
Platform [ ] All [ ] AntennaTracker [ ] Copter [ x ] Plane [ ] Rover [ ] Submarine
Additional context Looks like similar work was done on this PR: #26143